Imaging apparatus, imaging method, imaging program, and imaging system

ABSTRACT

Provided are an imaging apparatus, an imaging method, an imaging program, and an imaging system capable of easily making an imaging plan. The imaging apparatus ( 100 ) includes an imaging evaluation map acquiring section ( 101 ) that acquires an imaging evaluation map, and an imaging point selecting section ( 102 ) that selects an imaging point suitable for imaging an object and an imaging condition at the imaging point on the basis of the acquired imaging evaluation map. In the imaging evaluation map, an evaluation value that represents an evaluation of imaging in a case where an object is imaged at a specific position under a specific imaging condition is set at a plurality of imaging candidate positions for each of a plurality of imaging conditions.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a Continuation of PCT InternationalApplication No. PCT/JP2019/002766 filed on Jan. 28, 2019 claimingpriority under 35 U.S.C. § 119(a) to Japanese Patent Application No.2018-039977 filed on Mar. 6, 2018. Each of the above applications ishereby expressly incorporated by reference, in its entirety, into thepresent application.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to an imaging apparatus, an imagingmethod, an imaging program, and an imaging system.

2. Description of the Related Art

There is known a technique of inspecting or examining a structure suchas a bridge, a tunnel, or a dam by imaging a surface of the structurewith an imaging apparatus and analyzing the obtained image.

JP2017-031740A has proposed a technique of disposing a two-dimensionalbarcode on which information such as imaging conditions is recorded on astructure, reading the two-dimensional barcode, and performing imagingfor inspection.

SUMMARY OF THE INVENTION

However, in a case where a structure is imaged for the purpose ofinspection or the like, it is necessary to have a high degree of skillin determining what kind of device is to be used, and at what positionand under what condition imaging is to be performed. In particular, in acase where imaging is performed using an autonomous mobile robot such asa drone (unmanned aerial vehicle, UAV), it is necessary to select amovement route, and a high degree of determination is required to makean imaging plan thereof.

The present invention has been made in view of such circumstances, andan object of the present invention is to provide an imaging apparatus,an imaging method, an imaging program, and an imaging system capable ofeasily making an imaging plan.

Units for solving the above problems is as follows.

(1) According to an aspect of the present invention, there is providedan imaging apparatus including: an imaging evaluation map acquiringsection that acquires an imaging evaluation map in which an evaluationvalue that represents an evaluation of imaging in a case where an objectis imaged at a specific position under a specific imaging condition isdetermined at a plurality of imaging candidate positions for each of aplurality of imaging conditions; and an imaging point selecting sectionthat selects an imaging point suitable for imaging the object and animaging condition at the imaging point on the basis of the acquiredimaging evaluation map.

According to this aspect of the present invention, the imaging pointsuitable for imaging the object and the imaging condition at the imagingpoint are automatically selected. The imaging point and the imagingcondition are selected on the basis of the imaging evaluation map. In animaging evaluation map, an evaluation value that represents an imagingevaluation in a case where an object is imaged at a specific positionunder a specific imaging condition is determined, for each of aplurality of imaging conditions with respect to a plurality of imagingcandidate positions. Accordingly, by taking this imaging evaluation mapinto consideration, it is possible to determine at which position andunder which imaging condition a good image can be captured. The imagingpoint selecting section selects the imaging point suitable for imagingthe object and the imaging condition at the imaging point on the basisof the imaging evaluation map. Thus, it is possible to easily make animaging plan.

(2) The imaging apparatus according to (1) may further include: animaging device information acquiring section that acquires informationon an imaging device to be used, in which the imaging point selectingsection may select the imaging point suitable for imaging the object andthe imaging condition at the imaging point on the basis of the acquiredimaging evaluation map and information on the imaging device.

According to this aspect of the present invention, the imaging pointsuitable for imaging the object and the imaging condition at the imagingpoint are selected on the basis of the information on the imaging deviceto be used. Thus, it is possible to easily make an imaging plan.

(3) In the imaging apparatus according to (2), the imaging deviceinformation acquiring section may acquire information on a plurality ofimaging devices that are usable.

According to this aspect of the present invention, the imaging pointsuitable for imaging the object and the imaging condition at the imagingpoint are selected on the basis of the information on the plurality ofusable imaging devices. Thus, it is possible to easily make an imagingplan.

(4) In the imaging apparatus according to (2) or (3), the information onthe imaging device acquired by the imaging device information acquiringsection may include at least one piece of information on an availableimaging time, the number of images capable of being captured, or anavailable time.

According to this aspect of the present invention, the acquiredinformation on the imaging device includes at least one piece ofinformation on the available imaging time, the number of images capableof being captured, or the available time. Thus, it is possible togenerate an imaging plan that matches the available imaging time of theimaging device to be used, the number of images capable of beingcaptured, the available time, and the like. Here, the available imagingtime refers to a time during which a motion picture can be taken. Thetime during which the motion picture can be imaged is determined by thecapacity of a medium installed in the imaging device, a recorded imagequality, or the like. Further, the number of images capable of beingcaptured refers to the number of still images that can be captured. Thenumber of still images that can be captured depends on the capacity ofthe medium installed in the imaging device, the recorded image quality,or the like. The available time refers to a time during which theimaging device can be used. The time during which the imaging device canbe used is determined by the capacity of a battery installed in theimaging device, or the like.

(5) The imaging apparatus according to any one of (2) to (4) may furtherinclude: a mobile device information acquiring section that acquiresinformation on a mobile device to be used, in which the imaging pointselecting section may select the imaging point suitable for imaging theobject and the imaging condition at the imaging point on the basis ofthe acquired imaging evaluation map, information on the imaging device,and information on the mobile device.

According to this aspect of the present invention, the imaging pointsuitable for imaging the object and the imaging condition at the imagingpoint are selected on the basis of the information on the mobile deviceto be used. Thus, it is possible to easily make an imaging plan.

(6) In the imaging apparatus according to (5), the mobile deviceinformation acquiring section may acquire information on a plurality ofmobile devices that are usable.

According to this aspect of the present invention, the imaging pointsuitable for imaging the object and the imaging condition at the imagingpoint are selected on the basis of the information on the plurality ofthe mobile devices that are usable. Thus, it is possible to easily makean imaging plan.

(7) In the imaging apparatus according to (5) or (6), the information onthe mobile device acquired by the mobile device information acquiringsection may include information on an available time.

According to this aspect of the present invention, the information onthe mobile device includes the information on the available time. Thus,it is possible to generate an imaging plan that matches the availabletime of the mobile device. Here, the available time refers to a timeduring which the mobile device can be used. The time during which themobile device can be used is determined by the capacity of a batteryinstalled in the mobile device.

(8) The imaging apparatus according to any one of (1) to (7) may furtherinclude: a movement route selecting section that selects a movementroute suitable for imaging at each of the selected imaging points.

According to this aspect of the present invention, the movement routesuitable for imaging at each selected imaging point is automaticallyselected. Thus, it is possible to easily make an imaging plan.

(9) In the imaging apparatus according to any one of (1) to (8), theevaluation value for each imaging condition at each imaging candidateposition may be calculated by setting a plurality of characteristicparts on the object, setting an evaluation standard of imaging based onthe imaging candidate positions and the imaging conditions for eachcharacteristic part, calculating individual evaluation values for therespective characteristic parts according to the evaluation standard,and calculating a sum of the obtained individual evaluation values forthe respective characteristic parts.

According to this aspect of the present invention, the evaluation valuefor each imaging condition at each imaging candidate position in theimaging evaluation map is calculated as the sum of the individualevaluation values for the plurality of respective characteristic partsset on the object. The individual evaluation value is calculated foreach characteristic part according to the evaluation standard set foreach characteristic part. The evaluation standard is set on the basis ofthe imaging candidate position and the imaging condition.

(10) According to another aspect of the present invention, there isprovided an imaging system including: an autonomous mobile robotprovided with an imaging unit; and an imaging control device thatacquires information on an imaging point, an imaging condition, and amovement route selected by the imaging apparatus according to (9) asimaging control information, and controls the autonomous mobile robot onthe basis of the acquired imaging control information.

According to this aspect of the present invention, the imaging isautomatically performed at the imaging point, the imaging condition, andthe movement route selected by the imaging apparatus according to (9).The imaging is performed using an autonomous mobile robot provided withan imaging unit. The autonomous mobile robot is controlled by theimaging control device. The imaging control device acquires the imagingpoint, the imaging condition, and the movement route selected by theimaging apparatus according to (9) as control information, and controlsthe autonomous mobile robot. The movement form of the autonomous mobilerobot is not particularly limited. The autonomous mobile robot mayemploy various forms of movement such as flight, running, sailing, andwalking.

(11) According to still another aspect of the present invention, thereis provided an imaging apparatus including: an imaging evaluation mapacquiring section that acquires an imaging evaluation map in which anevaluation value that represents an evaluation of imaging in a casewhere an object is imaged at a specific position under a specificimaging condition is determined at a plurality of imaging candidatepositions for each of a plurality of imaging conditions; an imagingdevice information acquiring section that acquires information on aplurality of usable imaging devices; and an imaging device selectingsection that selects the imaging device suitable for imaging the objecton the basis of the acquired imaging evaluation map and information onthe imaging device.

According to this aspect of the present invention, the imaging devicesuitable for imaging the object is automatically selected from theplurality of usable imaging devices. Thus, it is possible to easily makean imaging plan.

(12) In the imaging apparatus according to (11), the evaluation valuefor each imaging condition at each imaging candidate position may becalculated by setting a plurality of characteristic parts on the object,setting an evaluation standard of imaging based on the imaging candidatepositions and the imaging conditions for each characteristic part,calculating individual evaluation values for the respectivecharacteristic parts according to the evaluation standard, andcalculating a sum of the obtained individual evaluation values for therespective characteristic parts.

According to this aspect of the present invention, the evaluation valuefor each imaging condition at each imaging candidate position in theimaging evaluation map is calculated as the sum of the individualevaluation values for the plurality of respective characteristic partsset on the object. The individual evaluation value is calculated foreach characteristic part according to the evaluation standard set foreach characteristic part. The evaluation standard is set on the basis ofthe imaging candidate position and the imaging condition.

(13) According to still another aspect of the present invention, thereis provided an imaging apparatus including: an imaging evaluation mapacquiring section that acquires an imaging evaluation map in which anevaluation value that represents an evaluation of imaging in a casewhere an object is imaged at a specific position under a specificimaging condition is determined at a plurality of imaging candidatepositions for each of a plurality of imaging conditions; a mobile deviceinformation acquiring section that acquires information on a pluralityof usable mobile devices; and a mobile device selecting section thatselects the mobile device suitable for imaging the object on the basisof the acquired imaging evaluation map and information on the mobiledevice.

According to this aspect of the present invention, the mobile devicesuitable for imaging the object is automatically selected from theinformation on the plurality of usable mobile devices. Thus, it ispossible to easily make an imaging plan.

(14) In the imaging apparatus according to (13), the evaluation valuefor each imaging condition at each imaging candidate position may becalculated by setting a plurality of characteristic parts on the object,setting an evaluation standard of imaging based on the imaging candidatepositions and the imaging conditions for each characteristic part,calculating individual evaluation values for the respectivecharacteristic parts according to the evaluation standard, andcalculating a sum of the obtained individual evaluation values for therespective characteristic parts.

According to this aspect of the present invention, the evaluation valuefor each imaging condition at each imaging candidate position in theimaging evaluation map is calculated as the sum of the individualevaluation values for the plurality of respective characteristic partsset on the object. The individual evaluation value is calculated foreach characteristic part according to the evaluation standard set foreach characteristic part. The evaluation standard is set on the basis ofthe imaging candidate position and the imaging condition.

(15) According to still another aspect of the present invention, thereis provided an imaging apparatus including: an imaging evaluation mapacquiring section that acquires an imaging evaluation map in which anevaluation value that represents an evaluation of imaging in a casewhere an object is imaged at a specific position under a specificimaging condition is determined at a plurality of imaging candidatepositions for each of a plurality of imaging conditions; an imagingdevice information acquiring section that acquires information on ausable imaging device; a mobile device information acquiring sectionthat acquires information on a usable mobile device; and an imaging plangenerating section that generates an imaging plan suitable for imagingthe object, on the basis of the acquired imaging evaluation map,information on the imaging device, and information on the mobile device.

According to this aspect of the present invention, the imaging plansuitable for imaging the object is automatically generated by specifyingthe usable imaging device and the usable mobile device. The imaging planis generated on the basis of the information on the usable imagingdevice, the information on the usable mobile device, and the imagingevaluation map. In an imaging evaluation map, an evaluation value thatrepresents an imaging evaluation in a case where an object is imaged ata specific position under a specific imaging condition is determined,for each of a plurality of imaging conditions with respect to aplurality of imaging candidate positions. Accordingly, by taking thisimaging evaluation map into consideration, it is possible to determineat which position and under which imaging condition a good image can becaptured. The imaging plan generating section generates the imaging plansuitable for imaging from the usable imaging device and mobile device onthe basis of the imaging evaluation map.

(16) In the imaging apparatus according to (15), the imaging plan mayinclude a movement route, an imaging point, and an imaging condition atthe imaging point.

According to this aspect of the present invention, the movement route,the imaging point, and the imaging condition at the imaging point aredetermined as the imaging plan.

(17) In the imaging apparatus according to (15) or (16), the evaluationvalue for each imaging condition at each imaging candidate position maybe calculated by setting a plurality of characteristic parts on theobject, setting an evaluation standard of imaging based on the imagingcandidate positions and the imaging conditions for each characteristicpart, calculating individual evaluation values for the respectivecharacteristic parts according to the evaluation standard, andcalculating a sum of the obtained individual evaluation values for therespective characteristic parts.

According to this aspect of the present invention, the evaluation valuefor each imaging condition at each imaging candidate position in theimaging evaluation map is calculated as the sum of the individualevaluation values for the plurality of respective characteristic partsset on the object. The individual evaluation value is calculated foreach characteristic part according to the evaluation standard set foreach characteristic part. The evaluation standard is set on the basis ofthe imaging candidate position and the imaging condition.

(18) According to still another aspect of the present invention, thereis provided an imaging system including: an autonomous mobile robotprovided with an imaging unit; and an imaging control device thatacquires information on the imaging plan generated by the imagingapparatus according to any one of (15) to (17), and controls theautonomous mobile robot on the basis of the acquired imaging plan.

According to this aspect of the present invention, the imaging isautomatically performed on the basis of the imaging plan generated bythe imaging apparatus according to (1) to (11). The imaging is performedusing an autonomous mobile robot provided with an imaging unit. Theautonomous mobile robot is controlled by the imaging control device. Theimaging control device controls the autonomous mobile robot so that theimaging according to the imaging plan is executed. The movement form ofthe autonomous mobile robot is not particularly limited. The autonomousmobile robot may employ various modes of movement such as flight,running, sailing, and walking.

(19) According to still another aspect of the present invention, thereis provided an imaging method including: a step of acquiring an imagingevaluation map in which an evaluation value that represents anevaluation of imaging in a case where an object is imaged at a specificposition under a specific imaging condition is determined at a pluralityof imaging candidate positions for each of a plurality of imagingconditions; and a step of selecting an imaging point suitable forimaging the object and an imaging condition at the imaging point on thebasis of the acquired imaging evaluation map.

According to this aspect of the present invention, the imaging pointsuitable for imaging the object and the imaging condition at the imagingpoint are automatically selected.

(20) According to still another aspect of the present invention, thereis provided an imaging method including: a step of acquiring an imagingevaluation map in which an evaluation value that represents anevaluation of imaging in a case where an object is imaged at a specificposition under a specific imaging condition is determined at a pluralityof imaging candidate positions for each of a plurality of imagingconditions; a step of acquiring information on a plurality of usableimaging devices; and a step of selecting the imaging device suitable forimaging the object, on the basis of the acquired imaging evaluation mapand information on the imaging device.

According to this aspect of the present invention, the imaging devicesuitable for imaging the object is automatically selected from theplurality of usable imaging devices.

(21) According to still another aspect of the present invention, thereis provided an imaging method including: a step of acquiring an imagingevaluation map in which an evaluation value that represents anevaluation of imaging in a case where an object is imaged at a specificposition under a specific imaging condition is determined at a pluralityof imaging candidate positions for each of a plurality of imagingconditions; a step of acquiring information on a plurality of usablemobile devices; and a step of selecting the mobile device suitable forimaging the object, on the basis of the acquired imaging evaluation mapand information on the mobile device.

According to this aspect of the present invention, the mobile devicesuitable for imaging the object is automatically selected from theplurality of usable mobile devices.

(22) According to still another aspect of the present invention, thereis provided an imaging method including: a step of acquiring an imagingevaluation map in which an evaluation value that represents anevaluation of imaging in a case where an object is imaged at a specificposition under a specific imaging condition is determined at a pluralityof imaging candidate positions for each of a plurality of imagingconditions; a step of acquiring information on a usable imaging device;a step of acquiring information on a usable mobile device; and a step ofgenerating an imaging plan suitable for imaging the object, on the basisof the acquired imaging evaluation map, information on the imagingdevice, and information on the mobile device.

According to this aspect of the present invention, the imaging plansuitable for imaging the object is automatically generated by specifyingthe usable imaging device and the usable mobile device.

(23) According to still another aspect of the present invention, thereis provided an imaging program causing a computer to implement: afunction of acquiring an imaging evaluation map in which an evaluationvalue that represents an evaluation of imaging in a case where an objectis imaged at a specific position under a specific imaging condition isdetermined at a plurality of imaging candidate positions for each of aplurality of imaging conditions; and a function of selecting an imagingpoint suitable for imaging the object and an imaging condition at theimaging point on the basis of the acquired imaging evaluation map.

According to this aspect of the present invention, the imaging pointsuitable for imaging the object and the imaging condition at the imagingpoint are automatically selected.

(24) According to still another aspect of the present invention, thereis provided an imaging program causing a computer to implement: afunction of acquiring an imaging evaluation map in which an evaluationvalue that represents an evaluation of imaging in a case where an objectis imaged at a specific position under a specific imaging condition isdetermined at a plurality of imaging candidate positions for each of aplurality of imaging conditions; and a function of acquiring informationon a plurality of imaging devices that can be used; and a function ofselecting the imaging device suitable for imaging the object, on thebasis of the acquired imaging evaluation map and information on theimaging device.

According to this aspect of the present invention, the imaging devicesuitable for imaging the object is automatically selected from theplurality of usable imaging devices.

(25) According to still another aspect of the present invention, thereis provided an imaging program causing a computer to implement: afunction of acquiring an imaging evaluation map in which an evaluationvalue that represents an evaluation of imaging in a case where an objectis imaged at a specific position under a specific imaging condition isdetermined at a plurality of imaging candidate positions for each of aplurality of imaging conditions; and a function of acquiring informationon a plurality of usable mobile devices; and a function of selecting themobile device suitable for imaging the object, on the basis of theacquired imaging evaluation map and information on the mobile device.

According to this aspect of the present invention, the mobile devicesuitable for imaging the object is automatically selected from theplurality of usable mobile devices.

(26) According to still another aspect of the present invention, thereis provided an imaging program causing a computer to implement: afunction of acquiring an imaging evaluation map in which an evaluationvalue that represents an evaluation of imaging in a case where an objectis imaged at a specific position under a specific imaging condition isdetermined at a plurality of imaging candidate positions for each of aplurality of imaging conditions; a function of acquiring information ona usable imaging device; a function of acquiring information on a usablemobile device; and a function of generating an imaging plan suitable forimaging the object, on the basis of the acquired imaging evaluation map,information on the imaging device, and information on the mobile device.

According to this aspect of the present invention, the imaging plansuitable for imaging the object is automatically generated by specifyingthe usable imaging device and the usable mobile device.

According to the present invention, it is possible to easily generate anappropriate imaging plan.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing a schematic configuration of animaging evaluation map generating device realized by installing animaging evaluation map generating program in a computer.

FIG. 2 is a block diagram showing functions realized by the imagingevaluation map generating device.

FIG. 3 is a diagram showing an example of setting of a coordinate space.

FIG. 4 is a diagram showing an example of setting of an imagingcandidate position.

FIG. 5 is a graph showing a relationship between individual evaluationvalues and evaluation values obtained in a case where imaging isperformed at a certain imaging candidate position under a certainimaging condition.

FIG. 6 is a diagram showing an example of a data structure of an imagingevaluation map.

FIG. 7 is a diagram showing an example in which an imaging evaluationmap is displayed in a graph format.

FIG. 8 is a flowchart showing a procedure of generating an imagingevaluation map.

FIG. 9 is a flowchart showing a procedure of calculating evaluationvalues.

FIG. 10 is a diagram showing an example of an object.

FIG. 11 is a diagram showing an example of setting of imaging candidatepositions and imaging conditions (imaging directions).

FIG. 12 is a table showing a list of evaluation values obtained atrespective imaging candidate positions in a case where the imagingdirection is 45°.

FIG. 13 is a table showing a list of evaluation values obtained atrespective imaging candidate positions in a case where the imagingdirection is 90°.

FIG. 14 is a table showing a list of evaluation values obtained atrespective imaging candidate positions in a case where the imagingdirection is 135°.

FIG. 15 is a diagram showing an example of a data structure of animaging evaluation map.

FIG. 16 is a diagram showing an example in which evaluation valuesobtained at respective imaging candidate positions are graphed andoutput in a case where the imaging direction is 45°.

FIG. 17 is a diagram showing an example in which evaluation valuesobtained at respective imaging candidate positions are graphed andoutput in a case where the imaging direction is 90°.

FIG. 18 is a diagram showing an example in which evaluation valuesobtained at respective imaging candidate positions are graphed andoutput in a case where the imaging direction is 135°.

FIG. 19 is a block diagram showing functions realized by an imagingapparatus.

FIG. 20 is a diagram showing an example in which selected imaging pointsand imaging conditions are output to a display.

FIG. 21 is a diagram showing another example in which selected imagingpoints and imaging conditions are output to a display (in a case wherethe imaging direction is 45°).

FIG. 22 is a diagram showing another example in which selected imagingpoints and imaging conditions are output to a display (in a case wherethe imaging direction is 90°).

FIG. 23 is a diagram showing another example in which selected imagingpoints and imaging conditions are output to a display (in a case wherethe imaging direction is 135°).

FIG. 24 is a flowchart showing a procedure of a process for selectingand outputting an imaging point and an imaging condition.

FIG. 25 is a block diagram showing functions realized by an imagingapparatus according to a second embodiment.

FIG. 26 is a flowchart showing a procedure of a process for selectingand outputting an imaging point and an imaging condition.

FIG. 27 is a block diagram showing functions realized by an imagingapparatus according to a third embodiment.

FIG. 28 is a flowchart showing a procedure of a process for selectingand outputting an imaging point and an imaging condition.

FIG. 29 is a block diagram showing functions realized by an imagingapparatus according to a fourth embodiment.

FIG. 30 is a flowchart showing a procedure of a process for selectingand outputting an imaging point, an imaging condition, and a movementroute.

FIG. 31 is a block diagram showing functions realized by an imagingapparatus according to a fifth embodiment.

FIG. 32 is a flowchart showing a procedure of a process for generatingan imaging plan.

FIG. 33 is a block diagram showing functions realized by an imagingapparatus according to a sixth embodiment.

FIG. 34 is a flowchart showing a procedure of a process for selecting arecommended imaging device.

FIG. 35 is a block diagram showing functions realized by an imagingapparatus according to a seventh embodiment.

FIG. 36 is a flowchart showing a procedure of a process for selecting arecommended mobile device.

FIG. 37 is a block diagram showing functions realized by an imagingapparatus according to an eighth embodiment.

FIG. 38 is a flowchart showing a procedure of a process for selectingrecommended device.

FIG. 39 is a diagram showing an example of a system configuration of animaging system.

FIG. 40 is a flowchart showing a procedure of a process for imaging bythe imaging system.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, preferred embodiments of the present invention will bedescribed in detail with reference to the accompanying drawings.

♦♦Imaging Evaluation Map Generating Device♦♦

[Imaging Evaluation Map Generating Device]

The imaging evaluation map generating device generates an imagingevaluation map in which an evaluation value that represents anevaluation of imaging in a case where an object is imaged under aspecific imaging condition at a specific position is determined for eachof a plurality of imaging conditions with respect to a plurality ofimaging candidate positions.

<<Hardware Configuration of Imaging Evaluation Map Generating Device>>

The imaging evaluation map generating device is configured by a computerin which a predetermined imaging evaluation map generating program isinstalled.

FIG. 1 is a block diagram showing a schematic configuration of animaging evaluation map generating device realized by installing animaging evaluation map generating program in a computer.

As shown in FIG. 1, an imaging evaluation map generating device 1includes a central processing unit (CPU) 10, a read only memory (ROM)11, a random access memory (RAM) 12, a hard disk drive (HDD) 13, anoptical disc drive 14, an interface (I/F) 15, an input/output interface(I/F) 16, and the like.

The imaging evaluation map generating device 1 is connected to a network2 through the communication interface 15, and is communicably connectedto another device such as a server through the network 2.

Input devices such as a keyboard 20 and a mouse 21 are connected to theimaging evaluation map generating device 1 through the input/outputinterface 16. Further, output devices such as a display 22 and a printer23 are connected to the imaging evaluation map generating device 1through the input/output interface 16.

The imaging evaluation map generating program is recorded on anon-transitory computer-readable medium (recording medium) such as adigital versatile disc (DVD) and a compact disc read only memory(CD-ROM) for distribution, and is installed into the computer from themedium. Alternatively, the imaging evaluation map generating program isstored on a network in a state of being accessible from the outside, andis downloaded to the computer upon request to be installed in thecomputer.

<<Functions Realized by the Imaging Evaluation Map Generating Device>>

FIG. 2 is a block diagram showing functions realized by the imagingevaluation map generating device.

The imaging evaluation map generating device 1 functions as a coordinatespace setting section 31 that sets a coordinate space, an imagingcandidate position setting section 32 that sets an imaging candidateposition, an imaging condition setting section 33 that sets an imagingcondition, a characteristic part setting section 34 that sets acharacteristic part, an evaluation standard setting section 35 that setsan imaging evaluation standard, an evaluation value calculating section36 that calculates an evaluation value that represents an imagingevaluation, an imaging evaluation map generating section 37 thatgenerates an imaging evaluation map, and an imaging evaluation mapoutput processing section 38 that outputs the generated imagingevaluation map in a predetermined format.

<Coordinate Space Setting Section>

The coordinate space setting section 31 sets a coordinate spaceincluding an object. The coordinate space setting section 31 receives aninput of information on the object, and sets the coordinate space. Forexample, in a case where a three-dimensional structure is set as anobject, the coordinate space setting section 31 receivesthree-dimensional model data thereof as an input, and sets thecoordinate space. Further, for example, in a case where a plane is setas the object, the coordinate space setting section 31 receives planedata (plane image data, map data, or the like) as an input, and sets thecoordinate space.

FIG. 3 is a diagram showing an example of setting of a coordinate space.A coordinate space CS is defined by three orthogonal axes (X axis, Yaxis, and Z axis), and is set so as to include the entirety of an objectOB that is an imaging target.

<Imaging Candidate Position Setting Section>

The imaging candidate position setting section 32 sets an imagingcandidate position. A plurality of imaging candidate positions are setin the coordinate space set by the coordinate space setting section 31.For example, a finite space including the object OB is divided into aplurality of blocks B, and a center position of each block B is set asan imaging candidate position. FIG. 4 is a diagram showing an example ofsetting of imaging candidate positions. The figure shows an example ofsetting of imaging candidate positions on a specific XZ section. Thefigure shows an example in which a finite space S including the objectOB is divided into the plurality of blocks B and an imaging candidateposition PP (Xn, Yn, Zn) is set at the center position of each block B.The imaging candidate position setting section 32 automatically sets theimaging candidate positions on the basis of the set coordinate space.

<Imaging Condition Setting Section>

The imaging condition setting section 33 sets an imaging condition foran object. The imaging condition refers to a group of various parametersthat influence an imaging result, such as an imaging direction (adirection of an optical axis of a lens), an imaging angle of view (focallength), the number of recording pixels, an imaging wavelength, and apositional relationship with a light source. The imaging conditionsetting section 33 automatically sets a plurality of imaging conditions.For example, the imaging condition setting section 33 automatically setsthe plurality of imaging conditions by changing the imaging direction(the direction of the optical axis of the lens), the imaging angle ofview (focal length), the number of recording pixels, and the like.

<Characteristic Part Setting Section>

The characteristic part setting section 34 sets a plurality ofcharacteristic parts for an object. The “characteristic part” of theobject refers to an “appearance” of a target that is directly orindirectly related to “information about the target”. For example, inimaging for the purpose of inspecting a structure, a three-dimensionalshape, a surface texture, and the like of an inspection target that isan object are used as typical characteristic parts. Specific elements ofthe three-dimensional shape that provides a useful “appearance” includevertices, ridges, or the like. In addition, specific elements of thesurface texture that provides the useful “appearance” include surfacestains (stains, discoloration, or the like) and deteriorated parts suchas cracks, for example. In this way, points, lines, and regions thatprovide the useful “appearance” of the object serve as thecharacteristic parts. The positions and azimuths of the points, lines,and regions that are the characteristic parts are specified in thecoordinate space. Further, in a case where a certain region is used asthe characteristic part, its range (size) is specified. The azimuthrefers to a direction in which the characteristic part is directed.

The characteristic part setting section 34 automatically sets thecharacteristic parts on the basis of data on the object. For example,the characteristic part setting section 34 automatically extractsvertices, ridges, or the like from data on a three-dimensional model ofthe object, and sets the extracted vertices, ridges, or the like as thecharacteristic parts. In addition, for example, the characteristic partsetting section 34 automatically extracts characteristic points fromplane image data, and sets the extracted characteristic points as thecharacteristic parts.

Further, the characteristic part setting section 34 receives designationof a characteristic part from a user, and sets the characteristic part.For example, the characteristic part setting section 34 causes athree-dimensional model (for example, a triangular mesh model, or thelike) of an object to be displayed on the display 22, and receivesdesignation (position and azimuth) of a part to be set as acharacteristic part. Alternatively, the characteristic part settingsection 34 causes an image group obtained by imaging an object from aplurality of viewpoints to be displayed on the display 22, and receivesdesignation of a part to be set as a characteristic part on the images.The user designates a part to be set as a characteristic part throughdesignation using a cursor or the like. For example, a characteristicpart is designated by designating a region in which a deteriorationphenomenon such as stains or cracks appears, or a region in which such aphenomenon is expected to appear.

Further, the characteristic part setting section 34 receives aninstruction from the user, and cancels the setting of the characteristicpart that is automatically set.

<Evaluation Standard Setting Section>

The evaluation standard setting section 35 sets an evaluation standardfor evaluating imaging. This evaluation standard is an evaluationstandard based on each characteristic part. That is, the quality ofimaging is evaluated from a viewpoint of each characteristic part.Accordingly, the evaluation standard is set individually for eachcharacteristic part.

The evaluation standard is defined by a function (evaluation function)having a position and an imaging condition as parameters. Accordingly,elements used as parameters in the evaluation function become an imagingcondition set by the imaging condition setting section 33. Accordingly,for example, in a case where the imaging direction, the imaging angle ofview, and the number of recording pixels are set as parameters of theevaluation function, the imaging condition setting section 33 sets atleast the imaging direction, the imaging angle of view, and the numberof recording pixels as an imaging condition.

The evaluation standard is set so that a relatively high evaluation iscalculated for a position and an imaging condition in which acharacteristic part for which the evaluation standard is set issatisfactorily imaged. For example, in the case of a characteristic partthat can be better imaged from the front than from the diagonal, theevaluation standard is set so that a relatively high evaluation iscalculated for a condition for imaging from the front than a conditionfor imaging from the diagonal.

The evaluation standard setting section 35 individually sets theevaluation function of each characteristic part on the basis of apredetermined setting rule. For example, the evaluation standard settingsection 35 individually sets the evaluation function of eachcharacteristic part so that a relatively high evaluation can be obtainedfor imaging performed from the front. The evaluation standard settingsection 35 individually sets the evaluation function of eachcharacteristic part so that a relatively high evaluation can be obtainedfor imaging performed for a layout in the center of a screen. Theevaluation standard setting section 35 individually sets the evaluationfunction of each characteristic part so that a relatively highevaluation can be obtained for imaging performed for a predeterminedsize on the screen.

<Evaluation Value Calculating Section>

The evaluation value calculating section 36 calculates an evaluationvalue that represents an imaging evaluation in a case where an object isimaged from each imaging candidate position under each set imagingcondition, for each imaging candidate position and each imagingcondition. The evaluation value is calculated as the sum of evaluationsobtained by evaluating imaging at the imaging candidate positions underthe imaging conditions, to be evaluated, for all the characteristicparts. That is, the imaging is evaluated from the viewpoint of eachcharacteristic part, and the sum of the obtained evaluations from thecharacteristic parts is used as the evaluation value of the imaging. Forexample, it is assumed that imaging is performed at a certain imagingcandidate position under a certain imaging condition. The imaging isevaluated individually for all characteristic parts. In this case,various high and low evaluations are made from the respectivecharacteristic parts. The sum of the evaluations of all thecharacteristic parts is an evaluation value of the imaging to beevaluated. The evaluation value calculating section 36 calculates theevaluation value in the following procedure.

First, the evaluation value calculating section 36 specifies an imagingcandidate position and an imaging condition to be evaluated. Then, theevaluation value calculating section 36 calculates an evaluationobtained from each characteristic part in a case where imaging isperformed under a specific condition. This evaluation is calculated asan individual evaluation value, and is calculated for all characteristicparts. The individual evaluation value is calculated according to anevaluation standard set for each characteristic part. As describedabove, the evaluation standard is defined as an evaluation functionhaving the position and the imaging condition as parameters.Accordingly, the evaluation value calculating section 36 substitutes aspecific imaging candidate position and a specific imaging conditioninto the evaluation function to calculate the individual evaluationvalue of each characteristic part. After the individual evaluationvalues are calculated for all the characteristic parts, the evaluationvalue calculating section 36 calculates the sum thereof. The calculatedsum is used as the evaluation value at the imaging candidate positionand the imaging condition to be evaluated.

FIG. 5 is a graph showing a relationship between individual evaluationvalues and evaluation values obtained in a case where imaging isperformed at a certain imaging candidate position under a certainimaging condition.

As shown in the figure, in a case where there are n characteristicparts, evaluation functions F1 to Fn are determined for the ncharacteristic parts, respectively. Then, individual evaluation valuesα1 to αn of the respective characteristic parts are individuallycalculated using the individually determined evaluation functions F1 toFn. The sum Σα=α1+α2+ . . . +αn−1+αn of the calculated individualevaluation values α1 to αn of all the characteristic parts is set as anevaluation value σ at the imaging candidate position under the imagingcondition.

<Imaging Evaluation Map Generating Section>

The imaging evaluation map generating section 37 generates an imagingevaluation map on the basis of a calculation result of the evaluationvalue calculating section 36. That is, the imaging evaluation mapgenerating section 37 generates an imaging evaluation map in which anevaluation value that represents an evaluation of imaging in a casewhere an object is imaged at a specific position under a specificimaging condition is determined, for each of a plurality of imagingconditions with respect to a plurality of imaging candidate positions.

As described above, the evaluation value calculating section 36calculates an evaluation value that represents an evaluation of imagingfor each imaging candidate position and each imaging condition. Theimaging evaluation map generating section 37 generates an imagingevaluation map on the basis of a calculation result of the evaluationvalue calculating section 36.

The imaging evaluation map is generated in a predetermined format, inwhich at least information on evaluation values and information onimaging candidate positions and imaging conditions in which theevaluation values are calculated are associated with each other.

FIG. 6 is a diagram showing an example of a data structure of an imagingevaluation map.

As shown in the figure, data of an imaging evaluation map includes atleast information on imaging candidate positions PP (X1, Y1, Z1) to PP(Xn, Yn, Zn), information on imaging conditions SC1 to SCn, andinformation on evaluation values σ1 (X1, Y1, Z1) to σn (Xn, Yn, Zn). Theinformation on the evaluation values σ1 (X, Y1, Z1) to αn (Xn, Yn, Zn)is recorded in association with the information on the imaging candidatepositions PP (X1, Y1, Z1) to PP (Xn, Yn, Zn) and the information on theimaging conditions SC1 to SCn in which the evaluation values σ1 (X, Y1,Z1) to σn (Xn, Yn, Zn) are calculated. Thus, in a case where an imagingcandidate position and an imaging condition are specified, an evaluationvalue corresponding to the imaging candidate position and the imagingcondition is uniquely obtained.

<Imaging Evaluation Map Output Processing Section>

The imaging evaluation map output processing section 38 outputs agenerated imaging evaluation map to an output device in a predeterminedoutput format. The imaging evaluation map is output in a tabular formator a graph format, for example.

FIG. 7 is a diagram showing an example in which an imaging evaluationmap is displayed in a graph format. This figure shows a graph of anevaluation value for each imaging condition on a certain XZ plane. Acircle displayed in each graph indicates an evaluation value at acorresponding position (imaging candidate position), in which the largerthe diameter, the higher the evaluation value. By displaying theevaluation values in a graph format in this way, it is possible toeasily understand conditions (imaging candidate positions and imagingconditions) in which high evaluation values are obtained.

[Procedure of Generating Imaging Evaluation Map]

Next, a procedure for generating an imaging evaluation map (imagingevaluation map generating method) using the imaging evaluation mapgenerating device 1 configured as described above will be described.

FIG. 8 is a flowchart showing a procedure for generating an imagingevaluation map.

First, an object that is an imaging target is specified (step S1). Theobject is specified by inputting object data. For example,three-dimensional model data, plane data, and the like of the object areinput and specified.

Then, a coordinate space including the object is set on the basis of thespecified object (step S2).

Then, a plurality of imaging candidate positions are set in the setcoordinate space (step S3).

Then, an imaging condition is set (step S4). The imaging condition isset on the basis of parameters of an evaluation function. For example,in a case where the evaluation function has an imaging angle of view andan imaging direction as parameters, conditions of the imaging angle ofview and the imaging direction are set. Here, a plurality of imagingconditions having different content are set. For example, a plurality ofimaging conditions having different imaging angles of view or imagingdirections are set. Alternatively, a plurality of imaging conditionswith different imaging angles of view and imaging directions are set.

Then, a characteristic part is set (step S5). The characteristic part isautomatically set on the basis of the object data. That is, a part thatis considered to be useful is automatically extracted and set as acharacteristic part. Further, the characteristic part may be manuallyset as necessary.

Then, an evaluation standard is set for each set characteristic part(step S6). The evaluation standard is defined by an evaluation functionhaving a position and an imaging condition as parameters. The evaluationfunction of the characteristic part is set so that a relatively highevaluation is calculated for a condition in which the characteristicpart is satisfactorily imaged.

Then, an evaluation value is calculated on the basis of the set imagingcandidate position, imaging condition, characteristic part, andevaluation function (step S7). The evaluation value is calculated foreach imaging candidate position and each imaging condition.

FIG. 9 is a flowchart showing a procedure for calculating an evaluationvalue.

The evaluation value is calculated for each imaging candidate positionby performing switching between the imaging conditions. That is, afterthe evaluation values under all the imaging conditions are calculatedfor one imaging candidate position, an evaluation value for the nextimaging candidate position is calculated.

First, information on a first imaging candidate position is acquired(step S10). Then, information on a first imaging condition is acquired(step S11). Then, an individual evaluation value of each characteristicpart is calculated on the basis of the acquired imaging candidateposition and imaging condition (step S12). The individual evaluationvalue of each characteristic part is calculated by substituting theinformation on the imaging candidate position and the imaging conditioninto the evaluation function. After the individual evaluation values ofall the characteristic parts are calculated, the sum thereof iscalculated, which is set as an evaluation value under the condition(step S13).

After the evaluation value is calculated, it is determined whether ornot the evaluation values under all the imaging conditions have beencalculated for the imaging candidate position (step S14). In a casewhere the evaluation values under all the imaging conditions have notbeen completely calculated, the procedure returns to step S11 to acquireinformation on the next imaging condition. Then, an evaluation value iscalculated under the obtained imaging condition.

In a case where the calculation of the evaluation values under all theimaging conditions has been completed for the imaging candidateposition, it is next determined whether or not the calculation of theevaluation values has been completed for all the imaging candidatepositions (step S15). In a case where the calculation of the evaluationvalues has not been completed for all the imaging candidate positions,the procedure returns to step S10 to acquire information on the nextimaging candidate position. Then, an imaging condition is switched atthe acquired imaging candidate position, and each evaluation value iscalculated. In a case where the calculation of the evaluation values hasbeen completed for all the imaging candidate positions, the processends.

After the evaluation values under all the imaging conditions at all theimaging candidate positions are calculated, an imaging evaluation map isgenerated on the basis of the calculation result (step S8). The imagingevaluation map is generated in a predetermined format, in which at leastinformation on the evaluation values and information on the imagingcandidate positions and the imaging conditions in which the evaluationvalues are calculated are associated with each other (see FIG. 6).

The generated imaging evaluation map is output to the output device in apredetermined output format (step S9). For example, the generatedimaging evaluation map is output to the display 22 in a graph format(see FIG. 7).

[Example of Creating Imaging Evaluation Map]

Hereinafter, an example of creation of an imaging evaluation map will bedescribed. For simplicity of description, an example of generation of animaging evaluation map in a case where imaging is performed while movingin a two-dimensional space will be described below.

FIG. 10 is a diagram showing an example of an object.

In this example, a specific region on a ground surface is set as anobject OB.

(1) Setting of Coordinate Space

As shown in FIG. 10, a coordinate space including the object OB is set.

In this example, a plane including the object OB is set as a ZX plane,and a plane orthogonal to the ZX plane is set as an XY plane. The Xaxis, Y axis, and Z axis are set to pass through the center of theobject OB, respectively.

(2) Setting of Imaging Candidate Positions

Imaging candidate positions are set in the set coordinate space. Asdescribed above, in this example, imaging is performed while moving inthe two-dimensional space. Accordingly, the imaging candidate positionsare set in the two-dimensional space. In this example, the imagingcandidate positions are set on the XY plane. Each of the imagingcandidate positions is represented by a coordinate position (x, y).

(3) Setting of Imaging Conditions

In this example, a plurality of imaging conditions having differentimaging directions (a direction of an optical axis of a lens) are set.The imaging direction is represented by θ.

(4) Setting of Characteristic Parts

As described above, a characteristic part is set as a part that appearsas an “appearance”. As shown in FIG. 10, it is assumed that two partsappear as “appearances” in the object OB. In this case, the parts thatappear as the “appearances” are set as the characteristic parts. Onecharacteristic part is referred to as a first characteristic part CP1,and the other characteristic part is referred to as a secondcharacteristic part CP2.

(5) Setting of Evaluation Standards

An evaluation function for each characteristic part is set as anevaluation standard for each characteristic part. In this example, sincean imaging evaluation map in a case where imaging is performed at eachimaging candidate position (x, y) under a plurality of imagingconditions with different imaging directions θ is created, theevaluation function is set as a function having the imaging candidateposition (x, y) and the imaging direction θ as parameters.

In this example, an evaluation function is set on the basis of astandard in which, (standard a) with respect to an imaging position, theevaluation function is set so that a higher evaluation value is outputas a distance is closer to an imaging distance suitable for imaging thecharacteristic part, and (standard b) with respect to an imagingdirection, the evaluation function is set so that a higher evaluationvalue is output as a direction is closer to an imaging directionsuitable for imaging the characteristic part.

Since the “imaging distance suitable for imaging the characteristicpart” varies depending on a resolution capability of an imaging deviceto be used, an imaging target, and the like, and thus, is appropriatelyset in consideration of these factors.

In addition, since the “imaging direction suitable for imaging thecharacteristic part” also varies depending on an imaging target or thelike, and thus, is appropriately set in consideration of the imagingtarget or the like. In general, it is preferable to perform imaging fromthe front, that is, to perform imaging in a state of directly facing theimaging target.

<<Evaluation Function Based on Each Standard>>

(A) Evaluation Function Based on Standard a (Evaluation Standard Relatedto Imaging Position)

(A1) Evaluation Function of First Characteristic Part CP1 Based onStandard a

The evaluation function of the first characteristic part CP1 based onthe standard a is set as f1a (x, y, θ).

In a case where a coordinate position of the first characteristic partCP1 is set to (x1, y1), a distance (imaging distance) between eachimaging candidate position (x, y) and the first characteristic part CP1may be evaluated as the sum of squares of the difference, that is,d1=(x−x1)²+(y−y1)². Assuming that the imaging distance suitable forimaging the first characteristic part CP1 is D1, this numerical valuebecomes smaller as the imaging distance becomes closer to D1.

Accordingly, the evaluation function f1a (x, y, θ) of the firstcharacteristic part CP1 based on the standard a may be set as thefollowing expression, for example.

f1a(x,y,θ)=2.0×(0.5−|D1² −d1|/|D1² +d1|)

Here, |D1²−d1| is an absolute value of (D1²−d1), and |D1²+d1| is anabsolute value of (D1²+d1).

(A2) Evaluation Function of Second Characteristic Part CP2 Based onStandard a

The evaluation function of the second characteristic part CP2 based onthe standard a is set as f2a (x, y, θ).

In a case where a coordinate position of the second characteristic partCP2 is (x2, y2), a distance (imaging distance) between each imagingcandidate position (x, y) and the second characteristic part CP2 may beevaluated as the sum of squares of the difference, that is,d2=(x−x2)²+(y−y2)². Assuming that the imaging distance suitable forimaging the second characteristic part CP2 is D2, the numerical valuebecomes smaller as the imaging distance becomes closer to D2.

Accordingly, the evaluation function f2a (x, y, θ) of the secondcharacteristic part CP2 based on the standard a may be set as thefollowing expression, for example.

f2a(x,y,θ)=2.0×(0.5−|D2² −d2|/|D2² +d2|)

Here, |D2²−d2| is an absolute value of (D2²−d2), and |D2²+d2| is anabsolute value of (D2²+d2).

(B) Evaluation Function Based on Standard b (Evaluation Standard forImaging Direction)

(B1) Evaluation Function of First Characteristic Part CP1 Based onStandard b

The evaluation function of the first characteristic part CP1 based onthe standard b is set as f1b (x, y, θ).

In a case where a coordinate position of the first characteristic partCP1 is (x1, y1), an angle θ1 of a straight line that connects eachimaging candidate position (x, y) and the first characteristic part CP1is θ1=A TAN [(y−y1)/(x−x1)].

In a case where a higher evaluation value is given to imaging performedin a state of more directly facing the imaging target, the evaluationfunction f1b (x, y, θ) of the first characteristic part CP1 based on thestandard b may be set as the following expression, for example.

f1b(x,y,θ)=1.0−|θ−θ1|

(B2) Evaluation Function of Second Characteristic Part CP2 Based onStandard b

The evaluation function of the second characteristic part CP2 based onthe standard b is set as f2b (x, y, θ).

In a case where a coordinate position of the second characteristic partCP2 is (x2, y2), an angle θ2 of a straight line that connects eachimaging candidate position (x, y) and the second characteristic part CP2is θ2=A TAN [(y−y2)/(x−x2)].

In a case where a higher evaluation value is given to imaging performedin a state of more directly facing the imaging target, the evaluationfunction f2b (x, y, θ) of the second characteristic part CP2 based onthe standard b may be set as the following expression, for example.

f2b(x,y,θ)=1.0−|θ−θ2|

<<Evaluation Function Set for Each Characteristic Part>>

The evaluation function of the first characteristic part CP1 is set as F1 (x, y, θ), and the evaluation function of the second characteristicpart CP2 is set as F2 (x, y, θ).

The evaluation function set for each characteristic part is generated bycombining the individual evaluation functions f1a (x, y, θ), f1b (x, y,θ), f2a (x, y, θ), and f2b (x, y, θ) generated as described above.

For example, in a case where the evaluation based on the standard a andthe evaluation based on the standard b are both high at the same time,if a higher evaluation is to be obtained, the product is set as follows.

Evaluation function F1 (x, y, θ) of the first characteristic part CP1

F1(x,y,θ)=f1a(x,y,θ)×f1b(x,y,θ)

Evaluation function F2 (x, y, θ) of the second characteristic part CP2

F2(x,y,θ)=f2a(x,y,θ)×f2b(x,y,θ)

Further, for example, in a case where the evaluation based on thestandard a and the evaluation based on the standard b are to be treatedindependently, the sum is set as follows.

Evaluation function F1 (x, y, θ) of the first characteristic part CP1

F1(x,y,θ)=f1a(x,y,θ)+f1b(x,y,θ)

Evaluation function F2 (x, y, θ) of the second characteristic part CP2

F2(x,y,θ)=f2a(x,y,θ)+f2b(x,y,θ)

Alternatively, a weighted sum is set as follows (k1 and k2 are weights).

Evaluation function F1 (x, y, θ) of the first characteristic part CP1

F1(x,y,θ)=k1×f1a(x,y,θ)+k2×f1b(x,y,θ)

Evaluation function F2 (x, y, θ) of the second characteristic part CP2

F2(x,y,θ)=k1×f2a(x,y,θ)+k2×f2b(x,y,θ)

(6) Calculation of Evaluation Value

In a case where an evaluation function under a certain imaging condition(θ) at a certain imaging candidate position (x, y) is represented by F(x, y, θ), the evaluation function F (X, Y, θ) is as follows.

F(X,Y,θ)=ΣFn(X,Y,θ)=F1(X,Y,θ)+F2(X,Y,θ)

Accordingly, in a case where information on an imaging candidateposition and an imaging condition to be evaluated is input to theevaluation function F (X, Y, θ), it is possible to calculate anevaluation value thereof. An example of calculation of the evaluationvalue is shown below.

FIG. 11 is a diagram showing an example of setting of imaging candidatepositions and imaging conditions (imaging directions).

As an example, as shown in FIG. 11, an evaluation value under eachimaging condition (imaging direction) at each imaging candidate positionis calculated in an example in which there are 20 imaging candidatepositions and three imaging conditions (imaging directions).

The imaging candidate positions (x, y) are set at total 20 locations,that is, four locations at equal intervals in the vertical direction (ydirection) and five locations at equal intervals in the horizontaldirection (x direction). In FIG. 11, it is assumed that the lower-rightimaging candidate position is the first imaging candidate position andthe upper-left imaging candidate position is the twentieth imagingcandidate position.

The imaging direction (θ), which is an imaging condition, is set to 45°,90°, and 135°. It is assumed that 90° is an imaging direction in thevertical downward direction.

The evaluation function F1 (x, y, θ) of the first characteristic partCP1 is set as F1 (x, y, θ)=f1a (x, y, θ)×f1b (x, y, θ), and theevaluation function F2 (x, y, θ) of the second characteristic part CP2is set as F2 (x, y, θ)=f2a (x, y, θ)×f2b (x, y, θ). That is, anevaluation function Fn of each characteristic part is set so that in acase where an evaluation obtained by an evaluation function fna and anevaluation obtained by an evaluation function fnb are both high at thesame time, a higher evaluation is obtained (n=1, 2).

In this example, an imaging distance D1 suitable for imaging the firstcharacteristic part CP1 is set as 140, and an imaging distance D2suitable for imaging the second characteristic part CP2 is set as 140.

FIG. 12 is a table showing a list of evaluation values obtained atrespective imaging candidate positions in a case where the imagingdirection is 45°. FIG. 13 is a table showing a list of evaluation valuesobtained at respective imaging candidate positions in a case where theimaging direction is 90°. FIG. 14 is a table showing a list ofevaluation values obtained at respective imaging candidate positions ina case where the imaging direction is 135°.

In the tables shown in FIGS. 12 to 14, a column of “imaging candidateposition” shows imaging candidate position numbers (see FIG. 11) andtheir coordinates (x, y).

A column of “characteristic part” indicates characteristic part numbers.“1” represents the first characteristic part, and “2” represents thesecond characteristic part.

A column of “distance” shows a distance of each imaging candidateposition to each characteristic part.

A column of “position evaluation” represents evaluation valuescalculated by the evaluation function fna based on the standard a(evaluation standard relating to an imaging position).

A column of “direction” represents an angle of a straight line thatconnects each imaging candidate position and each characteristic part.

A column of “direction evaluation” represents evaluation valuescalculated by the evaluation function fnb based on the standard b(evaluation standard relating to an imaging direction).

A column of “individual evaluation value” represents evaluation valuesat respective characteristic parts. In this example, F1 (x, y, θ)=f1a(x, y, θ)×f1b (x, y, θ) is calculated for the first characteristic partCP1, and F2 (x, y, θ)=f2a (x, y, θ)×f2b (x, y, θ) is calculated for thesecond characteristic part CP2.

A column of “evaluation value” represents evaluation values atrespective imaging candidate positions. As described above, since theevaluation value is the sum of the individual evaluations at eachcharacteristic part, F (X, Y, θ)=F1 (X, Y, θ)+F2 (X, Y, θ) iscalculated.

(7) Generation of Imaging Evaluation Map

An imaging evaluation map is generated on the basis of a calculationresult of the evaluation values.

FIG. 15 is a diagram showing an example of a data structure of animaging evaluation map.

As shown in the figure, at each imaging candidate position (x, y), anevaluation value obtained for each imaging condition (imaging direction)is recorded in association with information on the imaging candidateposition and information on the imaging condition (imaging direction).In this example, information on an individual evaluation value in a caseof calculating the evaluation value is also recorded.

In this example, since 20 imaging candidate positions are set and 3imaging directions are set as the imaging conditions, an imagingevaluation map having evaluation values of 20×3=60 is generated. Thatis, the imaging evaluation map in which 60 ways of imaging are evaluatedis generated.

(8) Output of Imaging Evaluation Map

The generated imaging evaluation map is output to the output device in apredetermined output format.

FIGS. 16 to 18 are diagrams showing an example in a case whereevaluation values obtained at respective imaging candidate positions aregraphed and output. FIG. 16 is a diagram showing an example in whichevaluation values obtained at respective imaging candidate positions aregraphed and output in a case where the imaging direction is 45°. FIG. 17is a diagram showing an example in which evaluation values obtained atrespective imaging candidate positions are graphed and output in a casewhere the imaging direction is 90°. FIG. 18 is a diagram showing anexample in which evaluation values obtained at respective imagingcandidate positions are graphed and output in a case where the imagingdirection is 135°.

In each figure, a circle displayed in the graph indicates an evaluationvalue at its position (imaging candidate position), and the larger thediameter, the higher the evaluation value.

As shown in FIGS. 16 to 18, using graphing, it is possible to easilyunderstand conditions (imaging candidate positions and imagingconditions) under which a high evaluation value is obtained.

For example, under the condition that the imaging direction is 45°, itcan be seen from FIG. 16 that imaging at an imaging candidate position(0, 100) has the highest evaluation.

Further, under the condition that the imaging direction is 90°, it canbe seen from FIG. 17 that imaging at an imaging candidate position (75,100) and an imaging candidate position (−75, 100) has the highestevaluation.

Further, under the condition that the imaging direction is 135°, it canbe seen from FIG. 18 that imaging at the imaging candidate position (0,100) has the highest evaluation.

[Modification Example of Imaging Evaluation Map Generating Device]

<<Modification Example of Coordinate Space Setting Section>>

As described above, in a case where a three-dimensional structure is setas an object, the coordinate space setting section 31 receives an inputof three-dimensional model data thereof, and sets a coordinate space.

The three-dimensional model may be generated using a known method suchas SfM (Structure from Motion). The SfM is a method of reproducing athree-dimensional model of an object from a plurality of images(multi-viewpoint images) obtained by imaging the object from a pluralityof viewpoints.

In a case where a function of generating a three-dimensional model of anobject is realized in the imaging evaluation map generating device, theimaging evaluation map generating device further includes an objectimage acquiring section that acquires a plurality of images obtained byimaging the object from a plurality of viewpoints, and athree-dimensional model generating section that generates athree-dimensional model of the object on the basis of the plurality ofacquired images. The object image acquiring section and thethree-dimensional model generating section are realized by causing acomputer to execute a predetermined program. The three-dimensional modelgenerating section generates a three-dimensional model (for example, athree-dimensional mesh model) using a known method such as SfM, forexample.

The coordinate space setting section 31 acquires information on thethree-dimensional model of the object generated by the three-dimensionalmodel generating section, and sets a coordinate space on the basis ofthe obtained three-dimensional model.

<<Modification Example of Imaging Candidate Position Setting Section>>

It is preferable that an imaging candidate position set by the imagingcandidate position setting section 32 is set in consideration of animaging target, an imaging purpose, and the like. Further, the imagingcandidate position may be manually set. Further, the imaging candidateposition may be set on a straight line in consideration of a case wherethe imaging candidate position is imaged while moving on the straightline. In addition, the imaging candidate position may be set in a planein consideration of a case where the imaging candidate position isimaged while moving in the plane.

<<Modification Example of Imaging Condition Setting Section>>

An imaging condition set by the imaging condition setting section 33 maybe automatically set depending on an object, or may be set appropriatelyby a user. Further, the user may appropriately modify the imagingcondition automatically set depending on the object. In the case ofautomatic setting, it is preferable to automatically select a necessaryimaging condition in consideration of an imaging target, an imagingpurpose, and the like.

Further, it is not essential that a plurality of imaging condition areset, and at least one imaging condition may be set. This is because theimaging condition may not be changed depending on a device to be used.In this case, an imaging evaluation map in which an imaging evaluationis determined for each imaging candidate position, based on the one setimaging condition, is generated.

In a case where a plurality of imaging conditions are set, a pluralityof imaging conditions having different content may be set for one item.For example, as described in the above embodiment, a plurality ofimaging conditions with different imaging directions may be set. As aresult, a plurality of evaluation values having different imagingdirections are obtained for the same imaging candidate position. As aresult, for example, in a case where imaging is performed using a devicehaving a function of switching an imaging direction, it is possible toeasily make an imaging plan thereof.

In addition, a plurality of imaging conditions with different imagingangles of view may be set. As a result, a plurality of evaluation valueswith different imaging angles of view are obtained for the same imagingcandidate position. Accordingly, for example, in a case where imaging isperformed using a device having a function (zoom function) for switchingan imaging angle of view, it is possible to easily make an imaging planthereof. Changing the imaging angle of view is synonymous with changinga focal length.

Further, a plurality of imaging conditions with different numbers ofrecording pixels may be set. As a result, a plurality of evaluationvalues with different numbers of recording pixels are obtained for thesame imaging candidate position. Thus, it is possible to easily select adevice suitable for imaging. The number of recording pixels is thenumber of pixels in a case where a captured image is recorded on amedium. Here, the number of recording pixels is synonymous withresolution. That is, the larger the number of recording pixels, thehigher the resolution of imaging.

Furthermore, a plurality of imaging conditions with different exposurecorrection amounts may be set. As a result, a plurality of evaluationvalues with different exposure correction amounts are obtained for thesame imaging candidate position. Thus, for example, in a case whereimaging is performed with a device capable of performing exposurecorrection, it is possible to easily make an imaging plan thereof.

Further, in a case where imaging for a motion picture is performed, aplurality of imaging conditions with different frame rates may be set.As a result, a plurality of evaluation values with different frame ratesare obtained for the same imaging candidate position. Thus, it ispossible to easily select a device suitable for imaging.

<<Modification Example of Characteristic Part Setting Section>>

As described above, a part (point, line, and region) that is a useful“appearance” of the object corresponds to a characteristic part. It ispreferable that the characteristic part is set in consideration of animaging target, an imaging purpose, and the like. As described above, inimaging for the purpose of inspecting a structure, a three-dimensionalshape (vertices, ridges, or the like), or a surface texture (stains onthe surface, or a deteriorated part such as cracks) of an object is atypical characteristic part.

Various methods may be employed for setting the characteristic part.Hereinafter, an example thereof will be described.

<In a Case where Characteristic Part is Manually Set>

In a case where a part that is a useful “appearance” of an object isknown, the part may be manually set.

For example, in a case where a three-dimensional shape (vertices,ridges, or the like) of an object is used as a characteristic part,information on the vertices, ridges, or the like is acquired from data(drawings, Computer Aided Design (CAD) data, or the like) at the time ofdesign of a structure that is the object, and is set as a characteristicpart. Further, it is also possible to measure (survey) an actual objectto acquire information on positions and azimuths of its vertices andridges, and to set the information as a characteristic part.

Further, in a case where a surface texture (stains on a surface, adeteriorated part such as cracks) is used as a characteristic part, itis possible to estimate a location with a possibility that adeterioration phenomenon such as stains or cracks occurs from data(drawings, CAD data, or the like) at the time of design of a structurethat is the object, and to specify its position, azimuth, and size(range) to set a characteristic part. Alternatively, it is possible tofind a location where stains, cracks, or the like have occurred byvisually observing an actual object, and to set the location as acharacteristic part.

Further, in a case where the object has been imaged in the past, acharacteristic part may be set with reference to a past imaging history.For example, in imaging for the purpose of inspecting a structure, in acase where the structure has been imaged in the past, information on adeteriorated part may be acquired with reference to a past imaginghistory, and may be set as a characteristic part.

<In a Case where a Characteristic Part is Automatically Set>

In a case where a characteristic part is automatically set, a part thatis the characteristic part may be automatically extracted from anobject, and may be set as the characteristic part. For example, when animaging evaluation map is generated for the purpose of inspecting astructure or the like, the characteristic part may be set according tothe following steps.

First step: First, a plurality of images obtained by imaging an objectfrom a plurality of viewpoints are acquired.

Second step: Next, vertices and ridges useful for estimating athree-dimensional structure or shape of the object are extracted fromthe obtained image group. Further, a texture (not limited to stains,cracks, or the like) related to a surface shape of the object isextracted. The extraction process is performed using a known imagerecognition technique.

Third step: Next, the three-dimensional structure or shape of the objectis estimated based on the information obtained in the second step.

Fourth step: Next, from the three-dimensional structure or shape of theobject obtained in the third step, an element useful for inspection(useful “appearance”) is extracted by image processing. For example, animage recognition technology is used to recognize stains, cracks, or thelike, and to extract useful elements for inspection. The position,azimuth, and range (size) of the extracted element are specified and setas a characteristic part.

Further, the characteristic part may be set according to the followingsteps.

First step: First, a plurality of images obtained by imaging an objectfrom a plurality of viewpoints are acquired.

Second step: Then, characteristic points are roughly detected from theobtained image group by a method such as SfM to obtain point group data.

Third step: Next, distribution of the point group is analyzed from theobtained point group data to generate a three-dimensional mesh model.

Fourth step: Vertices and ridges are extracted from the generatedthree-dimensional mesh model to be set as a characteristic part.

In the case of this configuration, the imaging evaluation map generatingdevice further includes an object image acquiring section that acquiresa plurality of images obtained by imaging an object from a plurality ofviewpoints, and a three-dimensional model generating section thatgenerates a three-dimensional model of the object on the basis of theobtained plurality of images. The object image acquiring section, thethree-dimensional model generating section, and a characteristic partextracting section are realized as a computer executes a predeterminedprogram.

In addition, for example, a configuration may be used in which a partcapable of being a characteristic part is extracted from information ona plurality of images obtained by imaging an object from a plurality ofviewpoints and three-dimensional model data generated from the imagegroup, using a learned model.

Further, in a case where the object has been imaged in the past, acharacteristic part may be set with reference to a past imaging history.For example, in the case of imaging for the purpose of inspecting astructure, or the like, in a case where the structure has also beenimaged in the past, past imaging information on may be acquired,information on a deteriorated part may be automatically extracted fromthe obtained information, and thus, a characteristic part may beautomatically set.

In a case where the characteristic part is automatically set, a user maymanually add or delete a characteristic part as necessary, for example.That is, the characteristic part may be set by combining automaticsetting and manual setting. This makes it possible to complement eachother's defects and efficiently set the characteristic part.

<Modification Example of Evaluation Standard Setting Section>

An evaluation standard may be set manually, or may be set automatically.

As described above, in a case where the three-dimensional model of theobject is generated to set the characteristic part, it is preferablethat the evaluation standard is also automatically set. That is, it ispreferable that the evaluation standard is automatically set on thebasis of the generated three-dimensional model. For example, in a casewhere a three-dimensional mesh model is generated, by analyzing thedirection of a mesh of the generated three-dimensional mesh model, it ispossible to set an evaluation standard for each characteristic part. Forexample, the evaluation standard is set so that a characteristic part ata location where the directions of the mesh are dispersed (a locationwith large unevenness) is given a high evaluation not only in a frontdirection but also in an oblique direction.

Further, in a case where the evaluation standard for each characteristicpart is set on the basis of the three-dimensional model, it ispreferable that the evaluation standard for each characteristic part isset by further using information on characteristic points obtained inthe process of generating the three-dimensional model. For example, itis possible to set the evaluation standard for each characteristic partby using information on the density of detected characteristic points.For example, in a characteristic part at a location where the density ofcharacteristic points is high, the evaluation standard is set so thatthe higher the resolution imaging, the higher the evaluation.

In a case where the evaluation standard is set, it is preferable toconsider an imaging target, an imaging purpose, and the like. This isbecause an image that is considered to be good differs depending on animaging object. Further, even in a case where the same object is imaged,if the purpose is different, an image that is considered to be good isdifferent. For example, in a characteristic part in which imageinformation such as stains and cracks is necessary, the evaluationstandard is set so that the higher the resolution, the higher theevaluation. In addition, for a characteristic part in which structuralinformation (three-dimensional shape, deformation, or the like) isnecessary, the evaluation standard is set so that a high evaluation isgiven to not only front imaging but also oblique imaging. Furthermore,in the case of a characteristic part at a location where imaging shouldbe necessarily performed from a structural or past damage history, theevaluation standard is set so that a high evaluation is given to acondition (imaging position and/or imaging direction) that thecharacteristic part is surely imaged.

As for the evaluation function, as described in the above-describedembodiment, it is possible to generate the evaluation function bysetting a standard for evaluation, setting a function for each setstandard, and appropriately combining the set functions. In a case wherea position, an imaging direction, and an imaging angle of view areevaluated, a function for evaluation of the position, a function forevaluation of the imaging direction, and a function for evaluation ofthe imaging angle of view are set, and the set functions are combined togenerate one function. The combination method is set according to anevaluation mode. In a case where respective items are highly evaluatedat the same time, in a case where a higher evaluation is to be obtained,an evaluation function obtained by multiplying respective functions isgenerated. In a case where the evaluation of each item is handledindependently, an evaluation function obtained by adding up respectivefunctions is generated. In a case where a particular item is emphasized,a weight is given to generate an evaluation function. For example, inthe above example, in a case where the imaging direction is regarded asimportant, a relatively high weight is given to the function forevaluation of the imaging direction, and an evaluation function obtainedby adding up the respective functions is generated.

<Modification Example of Evaluation Value Calculating Section>

As described above, the evaluation value is calculated as the sum ofevaluation values (individual evaluation values) obtained for all thecharacteristic parts. In a case where this evaluation value iscalculated, a weight may be given to each characteristic part. Forexample, in a case where an imaging evaluation map is generated for thepurpose of inspecting a structure or the like, in a case where adeteriorated part (stains, cracks, or the like) on a surface of thestructure is used as a characteristic part, a relatively high weight maybe given to the deteriorated part to calculate an evaluation value.Alternatively, a relatively high weight may be given to a characteristicpart designated as a part to be noticed to calculate an evaluationvalue.

In a case where the evaluation value is calculated by giving a weight toeach characteristic part, the imaging evaluation map generating devicefurther includes a weight setting section. The weight setting sectionsets a weight to each characteristic part. The weight setting section isrealized by causing a computer to execute a predetermined program. In acase where the weight is set, the evaluation value calculating section36 calculates, in a case of calculating an evaluation value, a sum ofvalues obtained by multiplying acquired individual evaluation values forrespective characteristic parts by weights as the evaluation value.

For example, in a case where an imaging evaluation map is generated forthe purpose of inspecting a structure or the like, a weight assigningsection acquires information on a deteriorated part set as acharacteristic part, and gives a relatively high weight to thedeteriorated part. Further, in a case where past imaging information canbe acquired, the weight may be given to each characteristic part usingthe past imaging information. For example, a relatively high weight isgiven to a characteristic part at a location that should be necessarilyimaged from the past imaging information. Similarly, in a case whereinformation on a past damage history or the like can be acquired, aweight may be appropriately given to a characteristic part from theinformation.

Further, in a case where a relatively high weight is given to a part tobe noticed, a notice part selecting section is separately provided. Thenotice part selecting section performs a process of selecting a part tobe noticed (notice part) from a plurality of set characteristic parts.The selection is performed, for example, by displaying the plurality ofset characteristic parts on the display 22 and causing a user to selecta characteristic part to be set as a notice part. The weight assigningsection assigns a relatively high weight to the selected notice part.

In this way, by assigning weights to calculate evaluation values, theevaluation depending on the degree of importance is obtained, and theimaging evaluation map depending on the degree of importance isgenerated. Thus, it is possible to easily generate an imaging plan.

The weight given to each characteristic part may be manually given.Further, it is preferable that the set weight can be adjustedappropriately.

<Modification Example of Imaging Evaluation Map Generating Device>

An imaging evaluation map generated by the imaging evaluation mapgenerating section 37 may include at least information on evaluationvalues and information on imaging candidate positions and imagingconditions in which the evaluation values are calculated. Further, byrecording useful information in association with the evaluation values,it is possible to generate a more useful imaging evaluation map.

<Modification Example of Imaging Evaluation Map Output ProcessingSection>

The generated imaging evaluation map does not necessarily have to bedisplayed, and may be output as data. In this case, an external devicethat has acquired the data performs a process such as display, a processof generating an imaging plan using the imaging evaluation map, and thelike.

♦♦Imaging Apparatus♦♦

In an imaging evaluation map, an evaluation value that represents animaging evaluation in a case where an object is imaged at a specificposition under a specific imaging condition is determined, for each of aplurality of imaging conditions with respect to a plurality of imagingcandidate positions. Accordingly, by taking this imaging evaluation mapinto consideration, it is possible to determine at which position andunder which imaging condition a good image can be captured.

Hereinafter, an imaging method using such an imaging evaluation map willbe described.

[First Embodiment of Imaging Apparatus]

Here, an example will be described in which an imaging point suitablefor imaging an object and an imaging condition at the imaging point areautomatically selected from an imaging evaluation map. In particular, inthe present embodiment, an example will be described in which imaging isperformed for the purpose of inspecting a structure.

<<Hardware Configuration of Imaging Apparatus>>

The imaging apparatus is configured of a computer in which apredetermined imaging program is installed. A hardware configurationthereof is substantially the same as the hardware configuration of theabove-described imaging evaluation map generating device (see FIG. 1).Accordingly, description of its detailed configuration will not berepeated.

<<Functions Realized by Imaging Apparatus>>

FIG. 19 is a block diagram of functions realized by an imagingapparatus.

As shown in the figure, an imaging apparatus 100 includes an imagingevaluation map acquiring section 101 that acquires an imaging evaluationmap, an imaging point selecting section 102 that selects an imagingpoint and an imaging condition at the imaging point on the basis of theacquired imaging evaluation map, and an output processing section 103that outputs the selected imaging point and imaging condition.

<Imaging Evaluation Map Acquiring Section>

The imaging evaluation map acquiring section 101 acquires an imagingevaluation map. In a case where the computer that functions as theimaging apparatus also functions as an imaging evaluation map generatingdevice, the imaging evaluation map acquiring section 101 acquires animaging evaluation map generated by the imaging evaluation mapgenerating device as it is. That is, the imaging evaluation map isdirectly acquired from the imaging evaluation map generating section 37.In a case where the imaging evaluation map is acquired from an externaldevice, the imaging evaluation map is acquired using the optical discdrive 14, the communication interface 15, the input/output interface 16,or the like (see FIG. 1).

As described above, in the present example, since the imaging isperformed for the purpose of inspecting the structure, an imagingevaluation map generated for the purpose of imaging for inspecting thestructure is acquired. As described above, in this type of imagingevaluation map, a three-dimensional shape (vertices, ridges, or thelike) of a structure that is an object, a texture of a surface(deteriorated part such as stains, cracks, or the like), or the like areset as a characteristic part.

<Imaging Point Selecting Section>

The imaging point selecting section 102 selects an imaging point(imaging position) suitable for imaging an object and an imagingcondition at the imaging point on the basis of the imaging evaluationmap acquired by the imaging evaluation map acquiring section 101.

The imaging point selecting section 102 extracts a condition having ahigh evaluation value (a combination of an imaging candidate positionand an imaging condition) from the imaging evaluation map, and selectsthe imaging point and the imaging condition so as to satisfy thecondition. For example, the imaging point selecting section 102 extractsconditions having higher N evaluation values (combinations of imagingcandidate positions and imaging conditions), and selects imaging pointsand imaging conditions so as to satisfy the extracted conditions.Alternatively, the imaging point selecting section 102 extracts acondition (a combination of an imaging candidate position and an imagingcondition) whose evaluation value is equal to or more than a thresholdvalue, and selects an imaging point and an imaging condition so as tosatisfy the extracted condition.

As an example, in the imaging evaluation map shown in FIG. 15, in a casewhere conditions (combinations of imaging candidate positions andimaging conditions) having high four evaluation values are extracted,the following four conditions are obtained.

Imaging candidate Imaging direction: 45° Evaluation value: 0.99position: (0, 100) Imaging candidate Imaging direction: 135° Evaluationvalue: 0.99 position: (0, 100) Imaging candidate Imaging direction: 90°Evaluation value: 0.58 position: (75, 150) Imaging candidate Imagingdirection: 90° Evaluation value: 0.58 position: (−75, 150)

The imaging points and the imaging conditions are selected so as tosatisfy the extracted conditions (combinations of the imaging candidatepositions and the imaging conditions).

The simplest selection method is a method for setting the extractedimaging candidate positions and the imaging conditions to the imagingpoints and the imaging conditions as they are. In this case, the imagingpoints and imaging conditions are selected as follows.

(A) Position (0,100), imaging direction 45°

(B) Position (0,100), imaging direction 135°

(C) Position (75, 150), imaging direction 90°

(D) Position (−75, 150), imaging direction 90°

In addition, the imaging points and the imaging conditions may beselected in consideration of information on the degree of freedom ofimaging, an imaging distance suitable for imaging, and the costnecessary for imaging (particularly, the cost necessary for changingimaging conditions (cost necessary for movement, cost necessary forchanging an imaging direction, or the like)). Thus, it is possible toselect an imaging point and an imaging condition suitable for a user'srequest.

For example, in a case where the imaging direction is limited to 90°,the position (75, 150) and the position (−75, 150) are set as thesuitable imaging points. Further, in consideration of the imagingdistance suitable for imaging, the position (x1, D1) and the position(x2, D2) are set as the suitable imaging points (it is assumed that acoordinate position of the first characteristic part CP1 is (x1, y1), animaging distance suitable for imaging the first characteristic part CP1is D1, a coordinate position of the second characteristic part CP2 is(x2, y2), and an imaging distance suitable for imaging the secondcharacteristic part CP2 is D2).

Further, in consideration of the cost necessary for imaging, imaging atone location is imaging with the lowest energy consumption and a lowcost. In this case, imaging in which the imaging direction is changed atthe position (0,100) is a preferable condition. That is, at the position(0, 100), imaging performed in the imaging direction of 45° and imagingperformed in the imaging direction of 135° are suitable conditions.Furthermore, the imaging point may be selected in consideration of theimaging distance suitable for imaging each characteristic part.

Generally, in the case of imaging using a drone, the cost for movementis higher than the cost for changing the imaging direction (powerconsumption is large). Further, in the case of movement, power isconsumed in the order of ascending>level flight>hovering>descending.

<Output Processing Section>

The output processing section 103 outputs imaging points and imagingconditions selected by the imaging point selecting section 102 in apredetermined output format.

FIG. 20 is a diagram showing an example in which selected imaging pointsand imaging conditions are output to a display.

As shown in the figure, imaging candidate positions selected as theimaging points and their imaging conditions are displayed on the display22. In this example, information on the imaging direction that is animaging condition is indicated by a direction of an arrow extending fromeach imaging candidate position.

In this way, by displaying the imaging point and the imaging condition,it is possible to easily recognize an imaging point suitable for imagingand an imaging condition.

FIGS. 21 to 23 show another example in which selected imaging points andimaging conditions are output to a display.

FIGS. 21 to 23 show examples in which the selected imaging points aredisplayed for each imaging condition. FIG. 21 shows a display example ina case where the imaging direction is 45°. FIG. 22 shows a displayexample in a case where the imaging direction is 90°. FIG. 23 shows adisplay example in a case where the imaging direction is 135°.

In a case where there are many imaging points to be selected, throughdisplay according to imaging conditions in this way, it is possible toeasily discriminate the selected conditions.

<Operation of Imaging Apparatus>

FIG. 24 is a flowchart showing a procedure of a process for selectingand outputting an imaging point and an imaging condition.

First, an imaging evaluation map is acquired (step S101). Then, animaging point suitable for imaging an object and an imaging condition atthe imaging point are selected on the basis of the acquired imagingevaluation map (step S102). Then, the selected imaging point and imagingcondition are output (step S103). A user makes an imaging plan on thebasis of information on the output imaging point and imaging condition.

A movement route is also selected in making the imaging plan. For theselection of the movement route, for example, a known algorithm forsolving a combinatorial optimization problem may be employed. Forexample, an algorithm for solving the traveling salesman problem may beemployed to select the movement route.

Modification Example

For the selection of the imaging point and the imaging condition, forexample, a learned model generated using a learning data set based on anevaluation map may be used.

[Second Embodiment of Imaging Apparatus]

<<Functions Realized by Imaging Apparatus>>

FIG. 25 is a block diagram showing functions realized by an imagingapparatus according to a second embodiment.

As shown in the figure, the imaging apparatus 100 according to thepresent embodiment further includes an imaging device informationacquiring section 104 that acquires information on an imaging device tobe used, and is different from the imaging apparatus 100 of the firstembodiment in that imaging points and imaging conditions are selected inconsideration of the information on the imaging device to be used.Accordingly, in the following description, only the differences from theimaging apparatus of the first embodiment will be described.

<Imaging Device Information Acquiring Section>

The imaging device information acquiring section 104 acquiresinformation on an imaging device to be used. Here, the information onthe imaging device is information such as specification of the imagingdevice. For example, in a case where a lens-interchangeable digitalcamera is used, the information includes a specification of a cameramain body and a specification of a lens to be mounted. Information onthe specification of the camera main body includes a variety ofinformation on the camera main body that influences imaging, such asimage sensor size information, effective pixel number information,settable sensitivity information, settable exposure correction amountinformation, information on whether or not there is a camera shakecorrection function, selectable shutter speed information, andcontinuous imaging speed information. In addition, information on thespecification of the lens includes a variety of information on the lensthat influences imaging, such as focal length information, settableaperture value information, zoom magnification information, andinformation on whether or not there is a camera shake correctionfunction.

Further, the information on the imaging device includes information onan available imaging time, the number of images capable of beingcaptured, and an available time. The available imaging time refers to atime during which a motion picture can be captured. The time duringwhich the motion picture can be imaged is determined by the capacity ofa medium installed in the imaging device, a recorded image quality, orthe like. Further, the number of images capable of being captured refersto the number of still images that can be captured. The number of stillimages that can be captured depends on the capacity of the mediuminstalled in the imaging device, the recorded image quality, or thelike. The available time refers to a time during which the imagingdevice can be used. The time during which the imaging device can be usedis determined by the capacity of a battery installed in the imagingdevice, or the like.

The imaging device information acquiring section 104 displays apredetermined input screen on the display 22, and receives an input ofinformation on the imaging device to be used. A user inputs theinformation on the imaging device to be used using the input device suchas the keyboard 20 and the mouse 21. The imaging device informationacquiring section 104 acquires the input information as the informationon the imaging device to be used.

Alternatively, the imaging device information acquiring section 104receives an input of information on a model of the imaging device to beused (product name, model number, or the like), and acquires theinformation on the imaging device to be used with reference to apredetermined database.

<Imaging Point Selecting Section>

The imaging point selecting section 102 selects an imaging pointsuitable for imaging an object and an imaging condition at the point onthe basis of an imaging evaluation map acquired by the imagingevaluation map acquiring section 101 and the information on the imagingdevice acquired by the imaging device information acquiring section 104.That is, the imaging point and the imaging condition suitable for theimaging are selected in consideration of the information on the imagingdevice. This is because there is a case where imaging cannot beperformed depending on the imaging device to be used.

<<Operation of Imaging Apparatus>>

FIG. 26 is a flowchart showing a procedure of a process for selectingand outputting an imaging point and an imaging condition.

First, an imaging evaluation map is acquired (step S21). Then, theinformation on the imaging device to be used is acquired (step S22).Then, on the basis of the acquired imaging evaluation map andinformation on the imaging device, an imaging point suitable for imagingan object and an imaging condition at the imaging point are selected(step S23). Then, the selected imaging point and imaging condition areoutput (step S24). A user makes an imaging plan on the basis ofinformation on the output imaging point and imaging condition.

According to the imaging apparatus of the present embodiment, since animaging point and an imaging condition suitable for imaging are selectedin consideration of an imaging device to be used, it is possible toeasily make an imaging plan.

Modification Example

The imaging device information acquiring section 104 may be configuredto acquire information on a plurality of usable imaging devices and toselect and output an imaging point and an imaging condition suitable forimaging on the basis of the acquired information on the plurality ofimaging devices.

In this case, the imaging point and the imaging condition suitable forimaging may be selected and output for each imaging device. Further, aconfiguration in which the most suitable imaging device is selected fromthe usable imaging devices and the imaging point and the imagingcondition suitable for imaging are selected and output on the basis ofthe selected imaging device may be used.

[Third Embodiment of Imaging Apparatus]

<<Functions Realized by Imaging Apparatus>>

FIG. 27 is a block diagram showing functions realized by an imagingapparatus according to a third embodiment.

As shown in the figure, the imaging apparatus 100 according to thepresent embodiment further includes a mobile device informationacquiring section 105 that acquires information on a mobile device to beused, and is different from the imaging device 100 of the secondembodiment in that an imaging point and an imaging condition areselected in further consideration of the information on the mobiledevice to be used. Accordingly, in the following description, only thedifferences from the imaging apparatus of the second embodiment will bedescribed.

<Mobile Device Information Acquiring Section>

The mobile device information acquiring section 105 acquires informationon a mobile device to be used. Here, the mobile device refers to adevice for moving the imaging device. For example, in a case whereimaging is performed using a drone, the drone is the mobile device. Inaddition, the mobile device includes a variety of moving units such asan unmanned vehicle, an unmanned ship, or a walking robot. Further, in acase where a person performs handheld imaging, the person becomes themobile device.

Further, the information on the mobile device includes information on anavailable time of the mobile device. For example, in the case of adrone, the information on the mobile device includes information on aflight available time. Further, the information on the mobile deviceincludes information on whether or not there is a control function foran imaging direction of a mounted imaging device. That is, theinformation on the mobile device includes information on whether or notthere is a function of switching the imaging direction (a direction ofan optical axis of the lens) of the mounted imaging device.

The mobile device information acquiring section 105 displays apredetermined input screen on the display 22, and receives an input ofthe information on the mobile device to be used. A user inputs theinformation on the mobile device to be used using the input device suchas the keyboard 20 and the mouse 21. The mobile device informationacquiring section 105 acquires the input information as the informationon the mobile device to be used.

Alternatively, the mobile device information acquiring section 105receives an input of information on a model (product name, model number,or the like) of the mobile device to be used, and acquires theinformation on the mobile device to be used with reference to apredetermined database.

<Imaging Point Selecting Section>

The imaging point selecting section 102 selects an imaging pointsuitable for imaging an object and an imaging condition at the imagingpoint on the basis of the imaging evaluation map acquired by the imagingevaluation map acquiring section 101, the information on the imagingdevice acquired by the imaging device information acquiring section 104,and the information on the mobile device acquired by the mobile deviceinformation acquiring section 105. That is, the imaging point and theimaging condition suitable for imaging are selected in furtherconsideration of the information on the mobile device. This is becausethere is a case where imaging cannot be performed depending on themobile device used.

<<Operation of Imaging Apparatus>>

FIG. 28 is a flowchart showing a procedure of a process for selectingand outputting an imaging point and an imaging condition.

First, an imaging evaluation map is acquired (step S31). Then,information on an imaging device to be used is acquired (step S32).Then, information on a mobile device to be used is acquired (step S33).Then, on the basis of the acquired imaging evaluation map, andinformation on the imaging device and mobile device, an imaging pointsuitable for imaging an object and an imaging condition at the imagingpoint are selected (step S34). Then, the selected imaging point andimaging condition are output (step S35). A user makes an imaging plan onthe basis of information on the output imaging point and imagingcondition.

According to the imaging apparatus of the present embodiment, since theimaging points and the imaging condition suitable for imaging areselected and output in further consideration of the mobile device to beused, it is possible to easily make an imaging plan.

Modification Example

The mobile device information acquiring section 105 may be configured toacquire information on a plurality of usable imaging devices and toselect and output imaging points and imaging conditions suitable forimaging on the basis of the acquired information on the plurality ofmobile devices.

In this case, an imaging point and an imaging condition suitable forimaging may be selected and output for each mobile device. Further, aconfiguration in which a mobile device most suitable for imaging isselected from the usable mobile devices and an imaging point and animaging condition suitable for imaging are selected and output on thebasis of the selected mobile device may be used.

[Fourth Embodiment of Imaging Apparatus]

<<Functions Realized by Imaging Apparatus>>

FIG. 29 is a block diagram showing functions realized by an imagingapparatus according to a fourth embodiment.

As shown in the figure, the imaging apparatus 100 of the presentembodiment further includes a movement route selecting section 106 thatselects a movement route on the basis of information on an imaging pointand an imaging condition that are selected, and in this point, isdifferent from the imaging device 100 according to the third embodiment.Accordingly, in the following description, only the differences from theimaging apparatus of the third embodiment will be described.

<Movement Route Selecting Section>

The movement route selecting section 106 selects a movement routesuitable for imaging at each imaging point selected by the imaging pointselecting section 102. For the route selection, for example, a knownalgorithm for solving a combinatorial optimization problem may beemployed. For example, an algorithm for solving the traveling salesmanproblem may be employed to select the movement route.

<Output Processing Section>

The output processing section 103 outputs an imaging point and animaging condition selected by the imaging point selecting section 102and the movement route selected by the movement route selecting section106 in a predetermined output format.

<<Operation of Imaging Apparatus>>

FIG. 30 is a flowchart showing a procedure of a process for selectingand outputting an imaging point, an imaging condition, and a movementroute.

First, an imaging evaluation map is acquired (step S41). Then,information on an imaging device to be used is acquired (step S42).Then, information on a mobile device to be used is acquired (step S43).Then, on the basis of the acquired imaging evaluation map, and theinformation on the imaging device and the mobile device, an imagingpoint suitable for imaging an object and an imaging condition at theimaging point are selected (step S44). Then, a movement route isselected on the basis of the selected imaging point (step S45). Then,the selected imaging point, imaging condition, and movement route areoutput (step S46).

According to the imaging apparatus of the present embodiment, since themovement route is also automatically generated, it is possible to easilymake an imaging plan.

Modification Example

The movement route selected by the movement route selecting section 106does not necessarily have to pass all of the selected imaging points. Anoptimum imaging point and imaging condition may be further selected, andthe movement route may be selected so that imaging is performed at theselected imaging point and imaging condition. In selecting the optimumimaging point and imaging condition, it is preferable to consider cost(energy consumption), necessary roughness of imaging, or the like.

Further, the movement route selecting section 106 may select a pluralityof movement routes. For example, a plurality of movement routes havingdifferent costs (energy consumption) or different roughness of imagingmay be selected. In a case where the plurality of movement routes areselected, it is preferable that a display order can be changed inaccordance with a request from a user.

[Fifth Embodiment of Imaging Apparatus]

<<Functions Realized by Imaging Apparatus>>

FIG. 31 is a block diagram showing functions realized by an imagingapparatus according to a fifth embodiment.

As shown in the figure, the imaging apparatus 100 according to thepresent embodiment includes an imaging evaluation map acquiring section101 that acquires an imaging evaluation map, an imaging deviceinformation acquiring section 104 that acquires information on animaging device to be used, and a mobile device information acquiringsection 105 that acquires information on an imaging device to be used,an imaging plan generating section 110 that creates an imaging plan onthe basis of the acquired imaging evaluation map, the information on theimaging device, and the information on the mobile device, and an outputprocessing section 103 that outputs the generated imaging plan.

The functions of the imaging evaluation map acquiring section 101, theimaging device information acquiring section 104, and the mobile deviceinformation acquiring section 105 are substantially the same as those ofthe imaging evaluation map acquiring section 101, the imaging deviceinformation acquiring section 104, and the mobile device informationacquiring section 105 provided in the imaging apparatus according to thefirst to third embodiments. Accordingly, in the following description,the imaging plan generating section 110 will be described.

<Imaging Plan Generating Section>

The imaging plan generating section 110 generates an imaging plan on thebasis of the acquired imaging evaluation map, information on the imagingdevice, and information on the mobile device. The imaging plan isgenerated by selecting an imaging point suitable for imaging, an imagingcondition at the imaging point, and a movement route from the imagingevaluation map. The selection of the imaging point and the imagingcondition at the imaging point is the same as the process in the imagingpoint selecting section 102. The selection of the movement route is thesame as the process in the movement route selecting section 106.

<Output Processing Section>

The output processing section 103 outputs an imaging plan generated bythe imaging plan generating section 110 in a predetermined outputformat.

<<Operation of Imaging Apparatus>>

FIG. 32 is a flowchart showing a procedure of a process for generatingan imaging plan.

First, an imaging evaluation map is acquired (step S51). Then,information on an imaging device to be used is acquired (step S52).Then, information on a mobile device to be used is acquired (step S53).Then, an imaging plan suitable for imaging an object is generated on thebasis of the acquired imaging evaluation map, and information on theimaging device and the mobile device (step S54). Then, the generatedimaging plan is output (step S55).

Modification Example

There may be a plurality of imaging plans generated by the imaging plangenerating section 110. For example, a plurality of imaging plans havingdifferent costs (energy consumption) or different roughness of imagingmay be generated. Further, information on a plurality of usable imagingdevices and mobile devices may be acquired to generate a plurality ofimaging plans. In a case where the plurality of imaging plans aregenerated, it is preferable that a display order can be changed inaccordance with a request from a user.

[Sixth Embodiment of Imaging Apparatus]

<<Functions Realized by Imaging Apparatus>>

FIG. 33 is a block diagram showing functions realized by an imagingapparatus according to a sixth embodiment.

The imaging apparatus 100 of the present embodiment automaticallyselects an imaging device suitable for imaging based on an imagingevaluation map.

As shown in FIG. 33, the imaging apparatus 100 according to the presentembodiment has an imaging evaluation map acquiring section 101 thatacquires an imaging evaluation map, an imaging device informationacquiring section 104 that acquires information on a usable imagingdevice, an imaging device selecting section 120 that selects an imagingdevice suitable for imaging on the basis of the acquired imagingevaluation map and the information on the usable imaging device, and anoutput processing section 103 that outputs information on the selectedimaging device.

The functions of the imaging evaluation map acquiring section 101 andthe imaging device information acquiring section 104 are substantiallythe same as those of the imaging evaluation map acquiring section 101and the imaging device information acquiring section 104 of the imagingapparatus according to the second embodiment. Accordingly, in thefollowing description, only the differences from the imaging apparatusof the second embodiment will be described.

<Imaging Device Selecting Section>

The imaging device selecting section 120 selects an imaging devicesuitable for imaging on the basis of the imaging evaluation map acquiredby the imaging evaluation map acquiring section 101 and the informationon the usable imaging device acquired by the imaging device informationacquiring section 104. Specifically, an imaging condition with a highevaluation value is extracted, and an imaging device in which imagingcan be performed under the extracted imaging condition is selected. Forexample, higher N imaging conditions with high evaluation values areextracted, and an imaging device in which imaging can be performed underthe extracted imaging conditions is selected. Alternatively, an imagingcondition having an evaluation value equal to or higher than a thresholdvalue is extracted, and an imaging device in which imaging can beperformed under the extracted imaging condition is selected.

<Output Processing Section>

The output processing section 103 outputs the imaging device selected bythe imaging device selecting section 120 as a recommended imaging devicein a predetermined output format.

<<Operation of Imaging Apparatus>>

FIG. 34 is a flowchart showing a procedure of a process for selecting arecommended imaging device.

First, an imaging evaluation map is acquired (step S61). Then,information on a usable imaging device is acquired (step S62). At leastone piece of information on the usable imaging device is acquired. Then,on the basis of the acquired imaging evaluation map and information onthe usable imaging device, an imaging device suitable for imaging anobject is selected (step S63). Then, the selected imaging device isoutput as a recommended imaging device (step S64).

Modification Example

The imaging device selecting section 120 may select a plurality ofimaging devices. In this case, it is preferable to select the pluralityof imaging devices in ranks. Further, information on mobile devices tobe used in combination may be acquired, and imaging devices may beselected in consideration of the acquired information on the mobiledevices.

[Seventh Embodiment of Imaging Apparatus]

<<Functions Realized by Imaging Apparatus>>

FIG. 35 is a block diagram showing functions realized by an imagingapparatus according to a seventh embodiment.

The imaging apparatus 100 according to the present embodimentautomatically selects a mobile device suitable for imaging on the basisof an imaging evaluation map.

As shown in FIG. 35, the imaging apparatus 100 according to the presentembodiment includes an imaging evaluation map acquiring section 101 thatacquires an imaging evaluation map, a mobile device informationacquiring section 105 that acquires information on a plurality of usablemobile devices, a mobile device selecting section 130 that selects amobile device suitable for imaging on the basis of the acquired imagingevaluation map and information on the usable mobile device, and anoutput processing section 103 that outputs information on the selectedmobile device.

The functions of the imaging evaluation map acquiring section 101 andthe mobile device information acquiring section 105 are substantiallythe same as those of the imaging evaluation map acquiring section 101and the mobile device information acquiring section 105 of the imagingapparatus according to the third embodiment. Accordingly, in thefollowing description, only the differences from the imaging apparatusof the third embodiment will be described.

<Mobile Device Selecting Section>

The mobile device selecting section 130 selects a mobile device suitablefor imaging on the basis of the imaging evaluation map acquired by theimaging evaluation map acquiring section 101 and the information on theusable mobile device acquired by the mobile device information acquiringsection 105. Specifically, an imaging condition with a high evaluationvalue is extracted, and a mobile device in which imaging can beperformed under the extracted imaging condition is selected. Forexample, higher N imaging conditions with high evaluation values areextracted, and a mobile device in which imaging can be performed underthe extracted imaging conditions is selected. Alternatively, an imagingcondition having an evaluation value equal to or higher than a thresholdvalue is extracted, and a mobile device in which imaging can beperformed under the extracted imaging condition is selected.

<Output Processing Section>

The output processing section 103 outputs the mobile device selected bythe mobile device selecting section 130 as a recommended mobile devicein a predetermined output format.

<<Operation of Imaging Apparatus>>

FIG. 36 is a flowchart showing a procedure of a process for selecting arecommended mobile device.

First, an imaging evaluation map is acquired (step S71). Then,information on a usable mobile device is acquired (step S72). At leastone piece of information on the usable mobile device is acquired. Then,on the basis of the acquired imaging evaluation map and information onthe usable mobile device, a mobile device suitable for imaging an objectis selected (step S73). Then, the selected mobile device is output as arecommended mobile device (step S74).

Modification Example

There may be a plurality of mobile devices selected by the mobile deviceselecting section 130. In this case, it is preferable to select theplurality of imaging devices in ranks. Further, information on imagingdevices to be used in combination may be acquired, and mobile devicesmay be selected in consideration of the obtained information on theimaging devices.

[Eighth Embodiment of Imaging Apparatus]

<<Functions Realized by Imaging Apparatus>>

FIG. 37 is a block diagram showing functions realized by an imagingapparatus according to an eighth embodiment.

The imaging apparatus 100 according to the present embodimentautomatically selects an imaging device and a mobile device suitable forimaging on the basis of an imaging evaluation map.

As shown in FIG. 37, the imaging apparatus 100 according to the presentembodiment includes an imaging evaluation map acquiring section 101 thatacquires an imaging evaluation map, an imaging device informationacquiring section 104 that acquires information on a usable imagingdevice, a mobile device information acquiring section 105 that acquiresinformation on a usable mobile device, and a device selecting section140 that selects a combination of an imaging device and a mobile devicesuitable for imaging, on the basis of the acquired imaging evaluationmap, and information on the usable imaging device and mobile device.

The functions of the imaging evaluation map acquiring section 101, theimaging device information acquiring section 104, and the mobile deviceinformation acquiring section 105 are substantially the same as theimaging evaluation map acquiring section 101, the imaging deviceinformation acquiring section 104, and the mobile device informationacquiring section 105 of the imaging apparatus according to the thirdembodiment. Accordingly, in the following description, only thedifferences from the imaging apparatus of the third embodiment will bedescribed.

<Device Selecting Section>

The device selecting section 140 selects a combination of an imagingdevice and a mobile device suitable for imaging, on the basis of theimaging evaluation map acquired by the imaging evaluation map acquiringsection 101, the information on the usable imaging device acquired bythe imaging device information acquiring section 104, and theinformation on the usable mobile device acquired by the mobile deviceinformation acquiring section 105. Specifically, the device selectingsection 140 extracts an imaging condition with a high evaluation value,and selects a combination of an imaging device and a mobile device inwhich imaging can be performed under the extracted imaging condition.For example, the device selecting section 140 extracts higher N imagingconditions with high evaluation values, and selects a combination of animaging device and a mobile device in which imaging can be performedunder the extracted imaging conditions. Alternatively, the deviceselecting section 140 extracts an imaging condition having an evaluationvalue equal to or higher than a threshold value, and selects acombination of an imaging device and a mobile device in which imagingcan be performed under the extracted imaging condition.

<Output Processing Section>

The output processing section 103 outputs the combination of the imagingdevice and the mobile device selected by the mobile device selectingsection 130 as a recommended device in a predetermined output format.

<<Operation of Imaging Apparatus>>

FIG. 38 is a flowchart showing a procedure of a process for selecting arecommended device.

First, an imaging evaluation map is acquired (step S81). Then,information on a usable imaging device is acquired (step S82). At leastone piece of information on the usable imaging device is acquired. Then,information on a usable mobile device is acquired (step S83). At leastone piece of information on the usable mobile device is acquired. Then,on the basis of the acquired imaging evaluation map and information onthe usable imaging device and the usable mobile device, a combination ofan imaging device and a mobile device suitable for imaging an object isselected (step S84). Then, the selected combination of the imagingdevice and the mobile device is output as a recommended device (stepS85).

Modification Example

There may be a plurality of combinations of imaging devices and mobiledevices selected by the device selecting section 140. In this case, itis preferable to select the plurality of imaging devices in ranks.

♦♦Imaging System♦♦

In the following description, a system that automatically performsimaging according to conditions (an imaging point, an imaging conditionat the imaging point, and a movement route) selected by the imagingapparatus or an imaging plan will be described.

[Imaging system] Here, an example will be described in which imaging isperformed using a drone for the purpose of inspecting a structure suchas a bridge.

FIG. 39 is a diagram showing an example of a system configuration of animaging system.

As shown in the figure, an imaging system 200 of the present embodimentincludes an imaging apparatus 100, a drone 300, and a control terminal400.

<<Imaging Apparatus>>

The imaging apparatus 100 generates an imaging plan from an imagingevaluation map of an object that is an inspection target. In thisexample, since the object that is the inspection target is imaged by thedrone, the imaging plan is generated using the drone 300 as a mobiledevice and an imaging unit provided in the drone 300 as an imagingdevice.

<<Drone>>

The drone 300 is an example of an autonomous mobile robot including animaging unit 310. The drone 300 is configured to be able toautomatically fly on the basis of a designated flight path and to beable to automatically perform imaging under a designated condition.Since an autonomous mobile robot (autonomous flying robot) such as adrone having such functions is known, a description of its specificconfiguration will be omitted.

<<Control Terminal>>

The control terminal 400 is an example of an imaging control device. Thecontrol terminal 400 controls flight and imaging of the drone 300.Specifically, information on an imaging point, an imaging condition, anda movement route is acquired from the imaging apparatus as imagingcontrol information, and the flight and imaging of the drone 300 arecontrolled on the basis of the acquired imaging control information.Alternatively, information on an imaging plan including the informationon the imaging point, the imaging condition, and the movement route isacquired from the imaging apparatus, and the flight and imaging of thedrone 300 are controlled on the basis of the information on the acquiredimaging plan.

The control terminal 400 is configured of, for example, a portablecomputer (tablet computer, notebook computer, or the like) having awireless communication function, communicates with the drone 300 in awireless manner, and transmits and receives a variety of informationincluding control information.

The control terminal 400 includes a monitor, and displays an imagecaptured by the drone 300 during flight in real time as necessary.

[Operation of imaging system] FIG. 40 is a flowchart showing a procedureof a process for imaging by the imaging system.

First, an imaging evaluation map generating device 1 generates animaging evaluation map of an inspection target (step S91). The imagingevaluation map is generated for the purpose of inspection. Accordingly,a characteristic part, an evaluation standard set for eachcharacteristic part, an imaging condition, and the like are set for thepurpose of inspection.

Then, an imaging plan is generated on the basis of the obtained imagingevaluation map (step S92). The imaging apparatus 100 acquires an imagingevaluation map of an inspection target, and generates an imaging plansuitable for imaging of the inspection target. The imaging plan includesinformation on an imaging point, an imaging condition at the imagingpoint, and a movement route.

In generating the imaging plan, the imaging apparatus 100 acquiresinformation on an imaging device and a mobile device to be used, andgenerates the imaging plan. In this example, information on the imagingunit 310 included in the drone 300 is acquired as the information on theimaging device. Further, the information on the drone 300 is acquired asthe information on the mobile device. The imaging apparatus 100generates an imaging plan suitable for imaging using the drone 300 fromthe imaging evaluation map. The imaging may be imaging of a still imageor imaging of a motion picture. Further, the imaging may be imaging forcombination of a still image and a motion picture.

Then, imaging is performed on the basis of the generated imaging plan(step S93). The control terminal 400 acquires information on thegenerated imaging plan, controls the drone 300 on the basis of theacquired imaging plan, and performs imaging according to the generatedimaging plan. That is, the imaging is performed at a set imaging pointunder a set imaging condition while moving (flight) according to a setmovement route.

As described above, according to the imaging system of the presentembodiment, it is possible to make an imaging plan and perform actualimaging in an automatic way.

Modification Example

In the above-described embodiment, an example in which imaging isperformed using a drone has been described, but the imaging device andthe mobile device to be used may be appropriately changed.

Further, in the above embodiment, a configuration in which the imagingcontrol device (control terminal 400) and the autonomous mobile robot(drone 300) are separately provided has been described, but aconfiguration in which the autonomous mobile robot is integrallyprovided with the function of the imaging control device may be used.

In addition, in generating an imaging plan, a plan for performingimaging in multiple times may be created. In this case, an imagingevaluation map to be used may be switched. For example, a weight to begiven to each characteristic part may be changed whenever imaging isperformed.

Further, the imaging plan may be generated by feeding back a result ofprevious imaging. For example, with respect to a characteristic partonce imaged under a condition with high satisfaction, it may beinterpreted that the desire for imaging is satisfied, and a weight to bemultiplied by the overall evaluation may be reduced.

Other Embodiments

In the above embodiments, the functions realized by the computer may berealized by various processors. The various processors may include a CPUwhich is a general-purpose processor that executes programs andfunctions as a variety of processing units, a programmable logic device(PLD) of which a circuit configuration is changeable aftermanufacturing, such as a field programmable gate array (FPGA), adedicated electric circuit that is a processor having a circuitconfiguration that is dedicatedly designed for executing a specificprocess, such as an application specific integrated circuit (ASIC), orthe like.

One function may be configured by the same type or different types oftwo or more processors. For example, one function may be configured byplural FPGAs or a combination of a CPU and an FPGA.

Further, a plurality of functions may be configured by one processor. Asan example in which the plurality of functions are configured by oneprocessor, first, as represented by a computer such as a client or aserver, a configuration in which a combination of one or more CPUs andsoftware forms one processor and this processor functions as a pluralityof functions may be employed. Second, as represented by a system-on-chip(SoC) or the like, a configuration in which a processor for realizing aplurality of processing units using one integrated circuit (IC) chip isused may be employed. As described above, the various functions areconfigured using one or more of the above-described various processorsas a hardware structure.

Further, as the hardware structure of the various processors is, morespecifically, electric circuitry in which circuit elements such assemiconductor elements are combined.

EXPLANATION OF REFERENCES

-   -   1: Imaging evaluation map generating device    -   2: Network    -   10: CPU (Central Processing Unit)    -   11: ROM (Read Only Memory)    -   12: RAM (Random Access Memory)    -   13: Hard disk drive (HDD)    -   14: Optical disc drive    -   15: Communication interface    -   16: Input/output interface    -   20: Keyboard    -   21: Mouse    -   22: Display    -   23: Printer    -   31: Coordinate space setting section    -   32: Imaging candidate position setting section    -   33: Imaging condition setting section    -   34: Characteristic part setting section    -   35: Evaluation standard setting section    -   36: Evaluation value calculating section    -   37: Imaging evaluation map generating section    -   38: Imaging evaluation map output processing section    -   100: Imaging apparatus    -   101: Imaging evaluation map acquiring section    -   102: Imaging point selecting section    -   103: Output processing section    -   104: Imaging device information acquiring section    -   105: Mobile device information acquiring section    -   106: Movement route selecting section    -   110: Imaging plan generating section    -   120: Imaging device selecting section    -   130: Mobile device selecting section    -   140: Device selecting section    -   200: Imaging system    -   300: Drone    -   310: Imaging unit    -   400: Control terminal    -   B: Block    -   CP1: First characteristic part    -   CP2: Second characteristic part    -   CS: Coordinate space    -   OB: Object    -   S: Limited space    -   S1 to S9: Procedure of generating imaging evaluation map    -   S10 to S15: Procedure of calculating evaluation value    -   S21 to S24: Procedure of process for selecting and outputting        imaging point and imaging condition    -   S31-S35: Procedure of process for selecting and outputting        imaging point and imaging condition    -   S41 to S46: Procedure of process for selecting imaging point and        imaging condition, and movement route    -   S51 to S55: Procedure of process for generating imaging plan    -   S61 to S64: Procedure of process for selecting recommended        imaging device    -   S71 to S74: Procedure of process for selecting recommended        mobile device    -   S81-S85: Recommended device selecting process    -   S91 to S93: Processing procedure of imaging by imaging system    -   S101 to S103: Procedure of process for selecting and outputting        imaging point and imaging condition

What is claimed is:
 1. An imaging apparatus comprising: an imagingevaluation map acquiring section that acquires an imaging evaluation mapin which an evaluation value that represents an evaluation of imaging ina case where an object is imaged at a specific position under a specificimaging condition is determined at a plurality of imaging candidatepositions for each of a plurality of imaging conditions; and an imagingpoint selecting section that selects an imaging point suitable forimaging the object and an imaging condition at the imaging point on thebasis of the acquired imaging evaluation map.
 2. The imaging apparatusaccording to claim 1, further comprising: an imaging device informationacquiring section that acquires information on an imaging device to beused, wherein the imaging point selecting section selects the imagingpoint suitable for imaging the object and the imaging condition at theimaging point on the basis of the acquired imaging evaluation map andinformation on the imaging device.
 3. The imaging apparatus according toclaim 2, wherein the imaging device information acquiring sectionacquires information on the plurality of imaging devices that areusable.
 4. The imaging apparatus according to claim 2, wherein theinformation on the imaging device acquired by the imaging deviceinformation acquiring section includes at least one piece of informationon an available imaging time, the number of images capable of beingcaptured, or an available time.
 5. The imaging apparatus according toclaim 2, further comprising: a mobile device information acquiringsection that acquires information on a mobile device to be used, whereinthe imaging point selecting section selects the imaging point suitablefor imaging the object and the imaging condition at the imaging point onthe basis of the acquired imaging evaluation map, information on theimaging device, and information on the mobile device.
 6. The imagingapparatus according to claim 5, wherein the mobile device informationacquiring section acquires information on the plurality of mobiledevices that are usable.
 7. The imaging apparatus according to claim 5,wherein the information on the mobile device acquired by the mobiledevice information acquiring section includes information on anavailable time.
 8. The imaging apparatus according to claim 1, furthercomprising: a movement route selecting section that selects a movementroute suitable for imaging at each of the selected imaging points. 9.The imaging apparatus according to claim 1, wherein the evaluation valuefor each imaging condition at each imaging candidate position iscalculated by setting a plurality of characteristic parts on the object,setting an evaluation standard of imaging based on the imaging candidatepositions and the imaging conditions for each characteristic part,calculating individual evaluation values for the respectivecharacteristic parts according to the evaluation standard, andcalculating a sum of the obtained individual evaluation values for therespective characteristic parts.
 10. An imaging system comprising: anautonomous mobile robot provided with an imaging unit; and an imagingcontrol device that acquires information on an imaging point, an imagingcondition, and a movement route selected by the imaging apparatusaccording to claim 9 as imaging control information, and controls theautonomous mobile robot on the basis of the acquired imaging controlinformation.
 11. An imaging apparatus comprising: an imaging evaluationmap acquiring section that acquires an imaging evaluation map in whichan evaluation value that represents an evaluation of imaging in a casewhere an object is imaged at a specific position under a specificimaging condition is determined at a plurality of imaging candidatepositions for each of a plurality of imaging conditions; an imagingdevice information acquiring section that acquires information on aplurality of usable imaging devices; and an imaging device selectingsection that selects the imaging device suitable for imaging the objecton the basis of the acquired imaging evaluation map and information onthe imaging device.
 12. The imaging apparatus according to claim 11,wherein the evaluation value for each imaging condition at each imagingcandidate position is calculated by setting a plurality ofcharacteristic parts on the object, setting an evaluation standard ofimaging based on the imaging candidate positions and the imagingconditions for each characteristic part, calculating individualevaluation values for the respective characteristic parts according tothe evaluation standard, and calculating a sum of the obtainedindividual evaluation values for the respective characteristic parts.13. An imaging apparatus comprising: an imaging evaluation map acquiringsection that acquires an imaging evaluation map in which an evaluationvalue that represents an evaluation of imaging in a case where an objectis imaged at a specific position under a specific imaging condition isdetermined at a plurality of imaging candidate positions for each of aplurality of imaging conditions; a mobile device information acquiringsection that acquires information on a plurality of usable mobiledevices; and a mobile device selecting section that selects the mobiledevice suitable for imaging the object on the basis of the acquiredimaging evaluation map and information on the mobile device.
 14. Theimaging apparatus according to claim 13, wherein the evaluation valuefor each imaging condition at each imaging candidate position iscalculated by setting a plurality of characteristic parts on the object,setting an evaluation standard of imaging based on the imaging candidatepositions and the imaging conditions for each characteristic part,calculating individual evaluation values for the respectivecharacteristic parts according to the evaluation standard, andcalculating a sum of the obtained individual evaluation values for therespective characteristic parts.
 15. An imaging apparatus comprising: animaging evaluation map acquiring section that acquires an imagingevaluation map in which an evaluation value that represents anevaluation of imaging in a case where an object is imaged at a specificposition under a specific imaging condition is determined at a pluralityof imaging candidate positions for each of a plurality of imagingconditions; an imaging device information acquiring section thatacquires information on a usable imaging device; a mobile deviceinformation acquiring section that acquires information on a usablemobile device; and an imaging plan generating section that generates animaging plan suitable for imaging the object, on the basis of theacquired imaging evaluation map, information on the imaging device, andinformation on the mobile device.
 16. The imaging apparatus according toclaim 15, wherein the imaging plan includes a movement route, an imagingpoint, and an imaging condition at the imaging point.
 17. The imagingapparatus according to claim 15, wherein the evaluation value for eachimaging condition at each imaging candidate position is calculated bysetting a plurality of characteristic parts on the object, setting anevaluation standard of imaging based on the imaging candidate positionsand the imaging conditions for each characteristic part, calculatingindividual evaluation values for the respective characteristic partsaccording to the evaluation standard, and calculating a sum of theobtained individual evaluation values for the respective characteristicparts.
 18. An imaging system comprising: an autonomous mobile robotprovided with an imaging unit; and an imaging control device thatacquires information on the imaging plan generated by the imagingapparatus according to claim 15, and controls the autonomous mobilerobot on the basis of the acquired imaging plan.
 19. An imaging methodcomprising: a step of acquiring an imaging evaluation map in which anevaluation value that represents an evaluation of imaging in a casewhere an object is imaged at a specific position under a specificimaging condition is determined at a plurality of imaging candidatepositions for each of a plurality of imaging conditions; and a step ofselecting an imaging point suitable for imaging the object and animaging condition at the imaging point on the basis of the acquiredimaging evaluation map.
 20. An imaging method comprising: a step ofacquiring an imaging evaluation map in which an evaluation value thatrepresents an evaluation of imaging in a case where an object is imagedat a specific position under a specific imaging condition is determinedat a plurality of imaging candidate positions for each of a plurality ofimaging conditions; a step of acquiring information on a plurality ofusable imaging devices; and a step of selecting the imaging devicesuitable for imaging the object, on the basis of the acquired imagingevaluation map and information on the imaging device.
 21. An imagingmethod comprising: a step of acquiring an imaging evaluation map inwhich an evaluation value that represents an evaluation of imaging in acase where an object is imaged at a specific position under a specificimaging condition is determined at a plurality of imaging candidatepositions for each of a plurality of imaging conditions; a step ofacquiring information on a plurality of usable mobile devices; and astep of selecting the mobile device suitable for imaging the object, onthe basis of the acquired imaging evaluation map and information on themobile device.
 22. An imaging method comprising: a step of acquiring animaging evaluation map in which an evaluation value that represents anevaluation of imaging in a case where an object is imaged at a specificposition under a specific imaging condition is determined at a pluralityof imaging candidate positions for each of a plurality of imagingconditions; a step of acquiring information on a usable imaging device;a step of acquiring information on a usable mobile device; and a step ofgenerating an imaging plan suitable for imaging the object, on the basisof the acquired imaging evaluation map, information on the imagingdevice, and information on the mobile device.
 23. A non-transitorycomputer-readable recording medium causing a computer to implement animaging function in a case where a command stored in the recordingmedium is read by the computer, the imaging function comprising, afunction of acquiring an imaging evaluation map in which an evaluationvalue that represents an evaluation of imaging in a case where an objectis imaged at a specific position under a specific imaging condition isdetermined at a plurality of imaging candidate positions for each of aplurality of imaging conditions, and a function of selecting an imagingpoint suitable for imaging the object and an imaging condition at theimaging point on the basis of the acquired imaging evaluation map.
 24. Anon-transitory computer-readable recording medium causing a computer toimplement an imaging function in a case where a command stored in therecording medium is read by the computer, the imaging functioncomprising, a function of acquiring an imaging evaluation map in whichan evaluation value that represents an evaluation of imaging in a casewhere an object is imaged at a specific position under a specificimaging condition is determined at a plurality of imaging candidatepositions for each of a plurality of imaging conditions, a function ofacquiring information on a plurality of usable imaging devices, and afunction of selecting an imaging device suitable for imaging the objectand an imaging condition at the imaging device on the basis of theacquired imaging evaluation map.
 25. A non-transitory computer-readablerecording medium causing a computer to implement an imaging function ina case where a command stored in the recording medium is read by thecomputer, the imaging function comprising, a function of acquiring animaging evaluation map in which an evaluation value that represents anevaluation of imaging in a case where an object is imaged at a specificposition under a specific imaging condition is determined at a pluralityof imaging candidate positions for each of a plurality of imagingconditions, a function of acquiring information on a plurality of usablemobile devices, and a function of selecting the mobile device suitablefor imaging the object, on the basis of the acquired imaging evaluationmap and information on the mobile device.
 26. A non-transitorycomputer-readable recording medium causing a computer to implement animaging function in a case where a command stored in the recordingmedium is read by the computer, the imaging function comprising, afunction of acquiring an imaging evaluation map in which an evaluationvalue that represents an evaluation of imaging in a case where an objectis imaged at a specific position under a specific imaging condition isdetermined at a plurality of imaging candidate positions for each of aplurality of imaging conditions, a function of acquiring information ona usable imaging device, a function of acquiring information on a usablemobile device, and a function of generating an imaging plan suitable forimaging the object, on the basis of the acquired imaging evaluation map,information on the imaging device, and information on the mobile device.